隨著產線自動化的需求提升，至今已開發出許多類型之機器手臂，無論是自主完成精密組裝作業、大型或重型搬運工作以及醫療型機械手臂，皆需要穩定與準確的控制機械手臂。機械手臂位置控制的需求不外乎為位置精度、速度及加速度等性能。當機器手臂在快速運轉的過程中，會有多次加速與減速的情形，為了控制機械手臂位置與姿勢於空間中之變化，並使位置、速度與加速度具平滑特性，必須利用軌跡規劃來產生機械手臂的移動軌跡，因此軌跡規劃對於機器手臂控制非常重要。
為使機械手臂終端效果器的位置與姿勢移動具平滑特性，本研究於作業座標系中使用五次多項式補間法進行軌跡規劃，轉換至直角座標系，並透過反向運動學求解關節位置，再利用差分運算法求得關節轉動之速度與加速度。最後，以位置控制實驗驗證，五次多項式之軌跡規劃，可提高機械手臂位置控制之性能。

As the increased demand for production line automation, there are many types of robotic arms being developed. Whether the precisely assembling operations, large or heavy handling work, and medical-type robotic arms, all require stable and accurate control of the robotic arm. Robotic arm's control needs nothing more than the speed, acceleration, accuracy and operating range. In the fast-running process of robotic arms, there will be many acceleration and deceleration activies. In order to control the robotic arm's position and orientation of the change in the space and make the position, velocity and acceleration continuous, have to use trajectory planning to generate mechanical arm movement trajectory, so the trajectory planning is very important to control a robotic arm.
In order to control the robotic arm's position and orientation make continuous, trajectory planning used in this study is quintic polynomial interpolation method, conversion to the cartesian coordinate system, determine the joint position through inverse kinematics. Also, determine rotational speed and acceleration of joint operation by the differential method. In the end, prove the trajectory of quintic of planning by the position control experiments. It can also improve the position control performance of the robotic arm.

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