隨著工業生產邁向自動化、智慧化，越來越多機器人導入到自動化生產，然而傳統之教導方法是用教導器進行路徑規劃，在操作上較為困難且耗費大量時間成本，因此人機協作的教導方式已成為重要的發展趨勢。本論文以導納控制使機械手臂順應操作者的力量移動，實現人機教導的功能，並透過VR技術建立擬真之虛擬實境，使操作者能與虛擬環境互動進行模擬訓練；並藉由雙向控制系統實現實體端與虛擬端達到同步運動，將虛擬端之環境阻力回饋置操作者手中，達到擬真的觸覺回饋。然而，虛擬實境的動態模型與實際系統存在模型誤差，降低觸覺回饋的靈敏度與位置追隨的效果，進而影響人機互動的性能。本論文提出模型修正架構，透過補償器之設計使主、從端之速度誤差快速收斂，實現雙端等效模型的效果，使操作者能感受到更真實的觸覺體驗。此外，透過記錄操作者教導的力量與運動軌跡，可以使機械手臂重現相同的運動模式，藉此驗證雙向控制在教導應用之可行性。

In recent years, the industrial automation has been developing rapidly, robot manipulators are frequently used in industrial production. However, the traditional teaching method is to use the teach pendant for path planning, this method takes lots of time and is difficult for user to operate. In this study, the intuitive teaching method is developed, operators can grasp a robot manipulator’s end effector to guide a trajectory for motion planning. By establishing a realistic virtual reality through VR technology, operator can interact with the virtual environment for simulation training. The Admittance control is used to make the robot manipulator move in accordance with the operator's strength; by integrating bilateral control system, two manipulators in real system and virtual reality can move synchronously, and the resistance from virtual environment will feedback into operator’s hands. The transparency of haptic feedback is crucial for human-machine interactions, however, dynamic model from system identification exist modeling error, which reduces sensitivity of haptic feedback and the effect of position tracking. This paper proposes a model correction structure, the velocity error between the real and virtual system can be converged quickly, so that the operator can feel a more realistic tactile experience. In addition, by recording the force and trajectory taught by the operator, the robot manipulator can reproduce the same motion. The feasibility of proposed control system is verified through the experiment result.

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