在高度工業化的時代，機器人的控制技術不斷進化。過去一些對人體具有危險性或高度重複性的工作，如今多由機器人取代。然而，若使用傳統的純位置控制方式來控制機械手臂的運動路徑，遇到不規則曲面時，控制演算法之程式撰寫會變得複雜且耗時。此外，若末端點力量控制不佳，常導致工件或機械手臂的損壞，也無法實現異地教學。
本論文的目標是設計一套遠端操作系統，該系統由一個位於遠端的大型機械手臂和一個位於本地端、結構相同的小型機械手臂組成。利用雙向控制架構和縮放係數，使本地端和遠端的機械手臂位置保持一致，方便進行遠端教學。為了精確教導機械手臂末端點的施力，系統將感測器測量到的力與動態模型計算出的力相減，解析出機械手臂與物體接觸時的交互作用力。然後，將解析出的力乘上一個縮放係數並反饋給操作員，使其能感受到相同的力反饋，從而更好地控制機械手臂末端點的施力大小。此外，系統記錄教導過程中的位置和力量資訊，並透過參數化曲線擬合，重現教學時的位置軌跡和力量，實現運動複製。為了進一步提高機械手臂的應用場合，本論文透過對參數化曲線進行後處理，調整再現的運動速度和力量。

In today's industrial era, robotic arms perform tasks that were once dangerous or repetitive for humans. Traditional position control methods are complex and time-consuming on irregular surfaces, and poor end-point force control can cause damage, making remote teaching infeasible.This paper designs a remote operation system with a large robotic arm at a remote site and a smaller, identical arm locally. Using bilateral control and scaling factors, the system ensures position consistency, facilitating remote teaching. By subtracting the dynamic model's calculated force from the torque sensor's measured force, the system accurately measures end-point force, scales it, and provides feedback to the operator for better control.The system records position and force data during teaching, uses parameterized curve fitting to reproduce trajectories and forces, and allows post-processing to adjust speed and force. This enhances operational stability, accuracy, and practicality in various applications.

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