機器人技術至今已經被廣泛的發展，從傳統的工業用機器手臂到現今的智慧型機器人、手術用機器人，都可發現其重要性與未來的發展性。本論文主要探討的是手術用機器人，利用自製的操控器，透過電腦TCP/IP連接傳輸，控制機器手臂進行手術的操作。文中的機器手臂為工研院機械所研製的五軸旋轉型小型裝配機械臂，由於在各軸皆使用傳統的比例微分控制器，使得其動態響應特性易受到外界干擾及參數變動影響。在控制法則上，為了解決其摩擦力所造成的嚴重非線性效應，引入了適應控制與滑動控制來解決其所造成的影響。

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