本文主要研究在推移微小物件時，在不同接觸模式下所產生的現象與其控制行為；在點接觸模式下則可以利用基礎理論推算出無滑動現象產生的最大物件尺寸，並可計算從點接觸旋轉到線接觸所需之最小距離，在線接觸模式下則利用Mason等人所提出的理論，藉由線接觸長度和接觸面最大長度之比例以及旋轉中心之位置，判斷推移過程中是否會產生旋轉，並得知穩定推移之範圍，再以實驗結果驗證線接觸長度所佔的比例是否符合，而在線接觸的推移過程中則使用模糊控制理論來修正推移角度，並利用虛擬障礙物進行障礙物配置之測試，再使用動態規劃配合權重加成建立路徑進行實體避障推移實驗，本文避障實驗使用之物件為長度1.15mm之長方形微物件。

This thesis investigate the phenomenon of different contact modes and their control behavior when the small rectangular object is pushed by fence. In the point contact without slipping, the maximum length of small object can be calculated by using fundamental theory. In addition, the minimum moving distance from point contact to line contact can be calculated. In the line contact mode, mainly by the theory of Mason, through the ratio between the length of line contact and maximum length of the contact surface and the position of rotation center, whether the object will rotate during push operation can be determined and the region of stable pushing can be obtained. After determined the region, experiment dynamic programming with weighting for path planning and fuzzy controller to control the angle of pushing, a small rectangular object of 1.15mm length is pushed to reach final destination without touching obstacles.

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