人類在許多的環境如：核電廠中的危險區域、外太空、地底、深海及具爆炸性的區域，仍無法完全安全的接近。僅管機器人的人工智慧已有長足的進展，但在上述的環境要由機械人完全自主地執行任務仍是困難重重，遠端操作系統因此被廣泛的應用。遠端操作系統合人類的思考判斷與機器人的操作技術，不但讓操作者身處安全的環境，且能將操作者的感覺、判斷及靈巧性實現在操作遠端之機械手。由於遠端操作在資訊傳送會有時間延遲問題，因此結合遠端操作及機械人的自主控制來克服此問題。

　　本論文主要目的，在實現以虛擬實境為基礎，並透過網際網路通訊之遠端操作，及機械手指自主控制之交換式控制之遠端靈巧操作系統。本研究所使用之遠端靈巧操作系統包含架設於近端的機械式手套，及架設在遠端的械械手指及攝影機。透過網際網路傳回遠端攝影機所得到的影像資訊，在近端利用虛擬實境的技術建立一遠端的虛擬場景以提供操作者遠端資訊。本文利用模糊滑動控制理論讓操作者能藉由機械式手套來感受到遠端機械手指的接觸力及控制機械手指運動。並且利用阻抗控制的理論來控制物體運動及內部抓取力。

　　最後，以插梢實驗來驗証本文所建構之結合遠端操作與機械手指自主控制之遠端靈巧操作系統性能。

　　There are still many environments that many be dangerous or inaccessible to humans, such as danger zones in nuclear power plant, outer space, deep-sea and underground. Despite rapid advances in artificial intelligence, it is very difficult to carry out a task autonomously for the robot in the above environments, and therefore telerobotic systems have been applied extensively. The telerobotic systems, by which a human operator according to the perception, judgment and dexterity can manipulate a remote robot hand in safe region, are combined human’s thinking and judgment with robot technology. Traded between teleoperation and autonomous operation can overcome the problem, the time delay in transmission of signals from remote site.

　　The objective of this thesis is to implement the traded control of a VR-based dexterous telerobotic system combined autonomous operation with teleoperation operated through the Internet. The dexterous telerobotic system adopted in this study is mainly composed of a hand master in local site, and a robot hand and camera in remote site. A virtual scene of the remote side that is created in local site by the visual information acquired by the camera in remote site and virtual reality (VR) technique is provided the information in remote site for operator. A fuzzy sliding mode control algorithm is applied to make the operator to fell the contact force in remote site using the hand master and control the motion of the robot hand. An impedance control scheme is applied to control the motion of the object being manipulated and the internal force on the object.

　　Finally, the performance of dexterous telerobotic system combined autonomous operation with teleoperation is verified by the peg-in-hole task.

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