中文摘要
本研究利用實驗室現有的設備---倒置生物顯微鏡(Olympus IX71)、微操縱器(MMS-77D)、雷射位移計(Microtrak 7000)與聚焦機構共同組成完整的微操縱系統。
在雙顯微操縱器上分別安裝微夾持器，對於物件搬運的成功取決於微夾持器的夾持力量，而物件搬運的過程是否穩當乃至物件搬運的最終位置是否精準取決於雙顯微操縱器的位置控制。本論文修改主從式之位置對位置協調控制架構，針對從動微操縱器之位置命令追蹤改用絕對位置模式，同時以撓性夾爪作為微操作器之端效器可避免影像位置估測的不精確所造成過大力量衝擊，以達成雙顯微操縱器的物件搬運控制的最終目標。
微小世界下的操作皆是在隔離的環境中進行，換句話說，操作員是透過影像視覺系統的輔助來下達指令與監視目前的操作狀況。由於在顯微鏡底下工作會失去深度資訊，故本論文導入虛擬實境技術以重建3D之操縱環境，使操作者能有更方便的介面來從事物件搬運控制。

Abstract
In this thesis, all equipments which are existed in the laboratory: inverted microscopy (Olympus IX71), micro manipulator (MMS-77D), laser displacement sensor (Microtrak 7000) and focus mechanism are included to integrate a whole micro manipulation system.
At first, each micro gripper is placed on dual micro manipulators. The success of doing object transportation is dependent on gripping force of the micro gripper. However, whether the final position of transporting object is accurate or not depends on the positioning control of the dual micro manipulators. For achieving the above two objectives, the position-to-position architecture of master/slave coordination is modified in this thesis. By adopting the absolute position to be the reference trajectory of the follower of micro manipulator, and employing the flexible gripper as an end effector to absorb the disturbance force resulting from positioning error measured on image inaccuracy, the task of object transportation by dual micro manipulators is achieved.
The micro operations in general are under isolated environment. In order to resolve the issues when operating under the microscope and provide an easier interface to user, a VR technique is added as an auxiliary tool to reconstruct another 3D manipulation environment in this thesis.

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