本研究主要透過IPC(industrial PC, 工業用電腦)建立一個針對不同機械手臂控制系統進行整合的控制架構，分別針對機械手臂各自獨立控制系統建立符合C#對應之控制程式以及動作控制單元，利用C#語法製作圖形控制系統介面透過呼叫對應的不同機械手臂控制器內部動作控制單元，建立起一個簡易並可通用的控制系統架構。
IPC主控程式利用C# 與Fanuc 提供的Robot Interface SDK以及Ethernet Socket 執行通訊，透過傳遞字串以及虛擬IO，呼叫Fanuc 控制器以及Toshiba 控制器內部針對IPC主控端設計的動作控制單元，經由不同的動作單元排列組合，達到IPC對於機械手臂動作控制的目的。其中必須設定不同機械手臂控制器內部參數以及如何設計對應的動作控制單元架構，符合IPC主控系統所定義的控制交握需求以及機械手臂動作上的定義。
本研究探討機械手臂控制器動作控制單元的設計架構以及IPC主控端的控制關係，執行方面發現Fanuc與Toshiba不同品牌的機械手臂控制器控制方式以及邏輯上都有部分的差異，所以盡可能尋找出共同處並且整合入IPC主控系統架構之中，考慮後續主控程式動作流程順序的可編輯性以及包容性。所以提供了兩種不同的控制系統模型，歸納入動態類別之中，其中一種為流程控制系統，程式編輯繁瑣，但可彈性調整不同控動作，機械手臂動作呈現流暢度高。另一種則為動作巨集化控制方式，該方式則將機械手臂動作控制單元規劃成單一動作。透過此規劃，最大化提供主控系統端控制細節，對於使用者更加直觀且容易，但對於機械手臂動作的型態有諸多限制。然而這兩種控制方式皆整合成單一動態類別提供主控端控制，透過不同的狀況選用適合的控制方式，達到控制系統有效的控制利用，建立與不同元件聯繫且直觀編寫的中央控制系統。

This research uses IPC(Industrial PC) to establish the control architecture for the integration of two different Robot Arm control systems. The control programs and action control units are established corresponding to the C# graphic control system interface. The C# Syntax is used to implement graphical interface for each of the robot arm’s independent control systems. The system interface calls the corresponding internal action control units of different robot drivers, thereby establishing a simple and universal automation control system architecture.
The IPC control program, implemented in C#, communicates with the robot interface and Ethernet sockets provided by Fanuc. It calls the Fanuc driver and the action control unit designed for the IPC control by passing strings and virtual IOs through different action units. Permutation and combination are used to achieve the purpose of IPC for Robot Arm motion control. It is also necessary to set different robot driver internal parameters and to design the corresponding motion control unit architecture, which meets the control handshaking requirements defined by the IPC main control system and the definition of Robot Arm motion. Therefore, the engineers or personnel who use the architecture can intuitively understand Robot Arm control architecture.

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