機械手臂採用PC-Based控制器，可帶來更易於整合與擴展功能的軟體開發環境，以符合更多複雜作業的需求。於機械手臂控制系統中，運動路徑的規劃經常仰賴教導器或牽引的方式錄製，但若應用情境具條件判斷的要求時，使用者則須再以文字程式重新編寫運動程式。而根據不同系統的機械手臂，使用者可能需學習一種以上的程式語言，以整合不同系統間的作業需求。因此，為簡化運動程式編輯的專業度並提供簡易操作的程式編輯介面，本研究將提出一個易學、易理解、易操作的圖形化運動控制介面，由設計的圖形化程式語言作為編輯手段，實現提出的系統於PC-Based控制器中。
本研究提出的運動控制介面將採用流程圖表達機械手臂的運動程式，終端使用者可透過拖曳、連結、編輯屬性等操作，達到簡易組成控制流程與修正控制流程之目的。於系統架構中，將基於混合式編譯器架構作為圖形化程式的運行核心，並透過用於分析控制流程的語法規則，將圖形化程式轉換為Python程式運動腳本，最終由直譯器運行腳本以驅動機械手臂。本系統由分工明確的軟體架構實現，將允許從不同層面擴充系統功能，其中包含替換程式直譯器及引用第三方函式庫，提供終端使用者更多樣的特色功能。
本研究於系統測試的環節中，將由二個實機操作的案例驗證圖形化程式編輯、圖形化程式編譯與運動執行等一連串的系統行為，是否合乎本研究設計之運作原理。由實驗的結果得知，本研究提出的系統將可讓使用者以流程圖的編輯概念，表達機械手臂於製程中的運作流程，過程中更可針對特定圖示修改而不更動整體表達的結構。更進一步地，本系統可藉由圖形化程式配合I/O控制卡，使機械手臂與不同的機台協作，使自動化程序的編輯更加得容易。

The motion control interface introduced in this paper will adopt flow charts to express the motion script of the Robot Arm. Then, end users can easily realize the control structure, as well as the realization of branch flow by the way of dragging, linking, and editing by a graphical programming language proposed in this paper. In the implemented system, a hybrid compiler is used as the key to the proposed system for running and parsing a graphical program. Then, the program will be converted into a python script by the syntax rules of the graphical programming language and driven the robot arm by the python interpreter. From the perspective of system functions expansion, this system is implemented with a clear software architecture, which makes expanding the system functions from different levels possibly, including the replacement and use of different third-party interpreters and import other motion control libraries.
According to the conclusion of the performance test, the system proposed in this paper allows users to express the movements of the robot arm in different manufacturing processes with the editing in the concept of the flowchart. Moreover, it can also modify the particular graphics rather than the whole structure of the expressed process. Furthermore, this system can make the Robot Arm work with the peripheral device to cooperate with different machines through a graphical programming interface and make it easier in the editing of the program for the automation process.

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