本研究將利用「光機電系統控制」實驗室歷年研究發展之「微型撓性夾爪」進行設計改良並微小化，且搭配耦合器、壓電致動器組成具有挾持功能的微機械臂，再搭配夾爪伺服平台、置物伺服平台及影像輔助視覺系統整合成微細物件組裝系統。
在微細物件組裝研究中，將針對Peg-In-Hole組裝程序動作進行探討。首先利用圖控式程式Labview設計任務導向架構與自動控制架構的微細物件組裝系統之人機介面。使用者透過人機介面的操控，可令微夾爪進行挾持直徑0.038mm的物件，經搬移後放入內徑0.049mm的毛細管內的組裝程序。
最後探討網路控制技術，如：遠端監控系統、網路傳輸延遲等問題，並針對遠端監控系統建模分析且設計控制器，然後將微細物件組裝系統網路化，讓使用者可經由網路瀏覽器來操控本實驗室的微細物件組裝系統，意即建立遠端監控微細物件組裝系統。

The present research is to utilize the micro gripper which was developed by the “Opto-Mechatronic System Control Laboratory” for redesigns and down scale and to incorporate a robot which is assembled by the micro gripper, the coupling, and piezo-actuator for grasping the micro object. A robot, a gripper-servo stage, an object-servo stage end, an image system are integrated to form a Micro-Assembly System.
In the research of the micro object assembled operation, the “Peg-In-Hole” problem is investigated. First, the Labview language is used to design the human-machine interfaces of the micro-assembly system with both task-oriented framework and automatical framework. From the teleoperation through the human-machine interface, the micro gripper grasps the object with the size of 0.038mm, move the object, and insert it into a capillary with the size of 0.049mm.
Finally, the research is focused on the network-controlled techniques, including the remote supervisory control, the network transmitted delay problems, etc. The remote supervised control system is modeled and analyzed, and a controller is designed to improve the system performance. With the establishment of the micro-assembly system for remote supervisory control, user can operate the micro-assembly system in the “Opto-Mechatronic System Control Laboratory” through web browsers.

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