現實生活中，機械手臂作動為給定座標以求出所需作動角度，進而求出所需力/力矩。理想作動情形為實際座標位置需與理想座標位置一致，但往往因為有許多外部干擾所造成的力/力矩(例如：摩擦力、馬達阻力…等)導致實際值與理想值有誤差。為了能事先將誤差識別出來使實際情況改善，於是使用虛擬環境進行實境模擬。
本論文主要使用Matlab建置六軸機械手臂模擬環境，除了運動學(探討座標與關節角度之關係)之外，還加入動力學(探討力/力矩與關節角度之關係)理論，並且利用控制器理論控制手臂移動。由於現在鮮少見到在模擬環境模擬機械手臂之運作，本論文以現今最常見之六軸機械手臂為架構建置模擬環境。再者，目前工業機械手臂在運作時皆有位移誤差產生，本論文除了建置精確模擬環境外，還實現模糊控制器理論套入模擬環境以控制機械手臂，並且利用控制器將實際軌跡逼近理想軌跡，達到最小誤差。

In the real life, the control of series manipulator was given by a known coordinate which acquires movement angle, and therefore the needed force and/or torque could be revealed. The ideal control situation would be the perfect match between actual coordinate position and the ideal coordinate position. However, the load caused by external disturbances, such as friction between each joint and resistance caused by motor, would generate inaccuracy between the actual and the ideal position. In order to identify the inaccuracy in advance and improve the precision in the actual situation, the reality simulation was conducted in a virtual environment.
This research mainly used Matlab to build the simulation environment of six degrees of freedom series manipulator. In addition to the kinematics theory which discovers the relationship between coordinates and joint angles, this research also considered dynamics theory to discuss the relationship between force and/or torque and joint angle. Since only a few researches simulated manipulators in the virtual environment, this research used more common method of six degrees of freedom manipulator to conduct the simulation. Furthermore, displacement error often happened when industrial manipulators was operated. In addition to build an accurate simulation environment, this research also used fuzzy control theory to control the manipulator to follow the ideal trajectory and minimize error.

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