本研究中使用Falcon觸覺裝置作為主控端，並與以嵌入式系統晶片為控制核心之工業用機械手臂作為從動端相連結，之間以RS232串列通訊進行力量、位置資訊的交換，建立一套具力量回饋的主從控制系統，希望透過此操作介面達到及時引導機器人執行人類複雜的動作。本研究系統為位置-力量之雙邊控制架構，使用者操控Falcon觸覺裝置輸出位置姿態，而機械手臂末端之力量感測器將力量回傳至力回饋操作系統，來聯結使用者與機械手臂之觸覺。
主控端以PC-Based為核心，其功能可分為位置操作及力量回饋，使用者藉由操作Novint Falcon搖桿，其末端有本研究自行安裝的慣性量測單元(IMU)，因此可由內部編碼器與IMU獲得當前使用者手的位置座標與姿態，並經由RS232串列通訊傳送至受控端完成即時位置遙控。力量回饋則是以六軸力量感測器量測機械手臂末端的接觸力做為力量命令回傳給Novint Falcon，使之輸出力量讓使用者感受到觸覺。
受控端以ALTERA Nios II Embedded Development Kit（以下簡稱Nios II開發板）為核心，主要為控制五軸機械手臂之運動，在Nios II 發展板中以數位硬體電路實現訊號輸入與輸出之功能，數位訊號控制由Nios II發展板送至自製直流馬達驅動電路以驅動馬達。數位電路中包括五組光學編碼器偵測、四倍頻寬解碼電路、極限開關訊號偵測、五組脈波寬度調變訊號輸出、RS232通訊結構、SDRAM控制模組等等。軟體部分則是在Nios II之整合開發環境介面編寫系統之人機介面，編寫正、反運動學、模糊滑動控制法、軌跡規劃等應用，以及藉由終端力量資訊來實現以位置為基礎之阻抗控制，達到防碰撞效果。

In this thesis, a slave robotic mechanism is connected with a Novint Falcon haptic device to work as a master-slave system for bilateral position-force control architecture. Users can operate the haptic device to generate position and posture command for the slave side manipulator operation. The end-effecter force sensor of the mechanical arm will provide the slave side’s force information feedback to master haptic device for reproducing the tactile feeling. By using this teleoperation system, users can real-time teach slave robot to finish some complex motion like human.
The master side is a PC-based control Falcon haptic device for executing two main functions. The first one is to generate the position and posture command by integrating haptic device encoders and IMU cell, and send the command data to slave side by RS-232. Secondly, it can represent the tactile feeling in response to the slave side’s force feedback information.
The Altera FPGA was chosen as the robotic arm control architecture. Its main function is to receive the position and posture data from master side and monitor the robotic arm motion. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function, including decoder, filter, PWM, I2C, and SDRAM controller etc. User interface, kinematics, inverse kinematics, FSMC calculations, and impedance control were written as software program in Nios II.

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