diff --git a/Assets/Scripts/BoxController.cs b/Assets/Scripts/BoxController.cs
index e2abff1..9a3865e 100644
--- a/Assets/Scripts/BoxController.cs
+++ b/Assets/Scripts/BoxController.cs
@@ -48,6 +48,7 @@ public class BoxController : MonoBehaviour
             // 로봇 팔을 부모로 설정하여 따라다니게 함
             attachParent = other.transform;
             transform.SetParent(attachParent);
+            transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
 
             // 부착된 동안 물리적 충돌이나 중력을 무시하도록 Rigidbody를 Kinematic으로 설정
             if (rb != null)
diff --git a/Assets/Scripts/Model/ProgramModel.cs b/Assets/Scripts/Model/ProgramModel.cs
index fca2f68..4d12a4e 100644
--- a/Assets/Scripts/Model/ProgramModel.cs
+++ b/Assets/Scripts/Model/ProgramModel.cs
@@ -524,6 +524,9 @@ public class ProgramModel : IProgramModel
 
     public async Task<string> GetMovingState()
     {
-        return await tcpClient.SendGetRequestAsync("/project/robot/moving_to_pose_manual");
+        string jsonResponse = await tcpClient.SendGetRequestAsync("/project/robot/moving_to_pose_manual");
+        string parsingJsonResponse = HttpResponseParser.ExtractJsonFromHttpResponse(jsonResponse);
+
+        return parsingJsonResponse;
     }
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Presenter/ProgramPresenter.cs b/Assets/Scripts/Presenter/ProgramPresenter.cs
index 5fcba74..337abba 100644
--- a/Assets/Scripts/Presenter/ProgramPresenter.cs
+++ b/Assets/Scripts/Presenter/ProgramPresenter.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Collections;
 using System.Collections.Generic;
 using System.Net.Sockets;
 using System.Threading;
@@ -76,6 +77,9 @@ public class ProgramPresenter
         this.controlledRobot = robot;
         this.controlledRobot.OnPoseUpdateRequest += HandleGETPose;
         popPos = controlledRobot.GetEndPoint();
+
+        if (controlledRobot != null)
+            controlledRobot.StartCoroutine(UpdateRobotMovingStateCoroutine());
     }
 
     public async Task UpdateMotorStateAsync()
@@ -96,6 +100,37 @@ public class ProgramPresenter
         }
     }
 
+    private IEnumerator UpdateRobotMovingStateCoroutine()
+    {
+        var waitForOneSecond = new WaitForSeconds(1.0f);
+        while (true)
+        {
+            Task<string> getTask = model.GetMovingState();
+
+            yield return new WaitUntil(() => getTask.IsCompleted);
+
+            try
+            {
+                if (getTask.IsFaulted)
+                {
+                    throw getTask.Exception.InnerException;
+                }
+
+                string currentState = getTask.Result;
+
+                if (pointManagerView.movingAlert != null)
+                {
+                    pointManagerView.movingAlert.SetActive(currentState == "1");
+                }
+            }
+            catch (Exception e)
+            {
+                Debug.LogWarning($"�κ� moving ���� ������Ʈ ����: {e.Message}");
+            }
+            yield return waitForOneSecond;
+        }
+    }
+
     public void OnApplicationStart()
     {
         if (controlledRobot != null)
@@ -220,7 +255,7 @@ public class ProgramPresenter
 
             this.latestTargetPose = ConvertPoseToRobotData(newWorldPos, newWorldRot);
 
-             await model.MoveToPoseTcpAsync(newWorldPos);
+            await model.MoveToPoseTcpAsync(newWorldPos);
         }
         catch (Exception e)
         {
@@ -232,9 +267,10 @@ public class ProgramPresenter
     private void HandleRobotReleased(RobotData pose)
     {
         IsDragging = false;
-        pendingPointData = pose; // �ӽ� ����
+        pendingPointData = this.latestTargetPose; // �ӽ� ����
         currentPopupState = PopupState.ConfirmAddPoint; // ���� ����
-        popupView.ShowConfirmPopup(popPos); // �˾� ��û
+
+        _ = WaitForRobotToStopAndShowPopup(currentPopupState);
     }
 
     private void StopDragMoveLoop()
@@ -245,11 +281,11 @@ public class ProgramPresenter
     }
 
     // --- ����Ʈ Ŭ�� ---
-    private void HandlePointClicked(int index)
+    private void HandlePointClicked(int index, Vector3 newWorldPos)
     {
         activePointIndex = index; // ��� ����
         currentPopupState = PopupState.MoveOrDelete; // ���� ����
-        popupView.ShowOptionPopup(popPos); // �˾� ��û
+        popupView.ShowOptionPopup(newWorldPos); // �˾� ��û
     }
 
     // --- ����Ʈ �巡�� ---
@@ -283,7 +319,7 @@ public class ProgramPresenter
         RedrawTemporaryPath(index, latestTargetPose);
     }
 
-    private void HandlePointDragEnd(int index)
+    private async void HandlePointDragEnd(int index)
     {
         IsDragging = false;
 
@@ -291,10 +327,14 @@ public class ProgramPresenter
         interactionView.HideGhostRobot();
 
         pendingPointData = this.latestTargetPose;
-        currentPopupState = PopupState.ConfirmModifyPoint; // ���� ����
-        popupView.ShowConfirmPopup(popPos);
-    }
 
+        Vector3 popupWorldPos = ConvertRobotDataToVector3(pendingPointData);
+        await model.MoveToPoseTcpAsync(popupWorldPos);
+
+        currentPopupState = PopupState.ConfirmModifyPoint; // ���� ����
+
+        popupView.ShowModifyPopup(popPos);
+    }
 
     // --- �˾� ���� ���� �ڵ鷯 ---
     private async void HandlePopupResponse(PopupResponse response)
@@ -307,7 +347,7 @@ public class ProgramPresenter
             case PopupState.ConfirmAddPoint:
                 if (response == PopupResponse.InsConfirm)
                 {
-                    await model.SavePointToProgramAsync(pendingPointData);
+                    await model.SavePointToProgramAsync(pendingPointData, -1);
                     RedrawSceneFromModel(); // �� ����
                 }
                 break;
@@ -323,27 +363,23 @@ public class ProgramPresenter
                 else if (response == PopupResponse.Cancel)
                 {
                     pointManagerView.UpdatePointPosition(activePointIndex, originalDragPose); // ����ġ
-                    RedrawSceneFromModel(); // ��� ����ġ
+                    RedrawTemporaryPath(activePointIndex, originalDragPose); // ��� ����ġ
                 }
                 break;
 
             // ����� �̵�/����
             case PopupState.MoveOrDelete:
+                RobotData targetPose = model.CurrentProgram.GetStepPose(activePointIndex);
+                Vector3 pos = ConvertRobotDataToVector3(targetPose);
                 if (response == PopupResponse.Move)
                 {
-                    RobotData targetPose = model.CurrentProgram.GetStepPose(activePointIndex);
-                    Vector3 pos = ConvertRobotDataToVector3(targetPose);
-
-                    // �˸� UI ǥ��
-                    pointManagerView.movingAlert.SetActive(true);
-
                     await model.MoveToPoseTcpAsync(pos);
-                    Debug.Log($"�̵� ��? : { await model.GetMovingState()}"); // TODO. � ���� �޾ƿ�����.
                 }
                 else if (response == PopupResponse.Delete)
                 {
+                    popupView.ShowDeletePopup(pos);
                     currentPopupState = PopupState.ConfirmDelete;
-                    popupView.ShowConfirmPopup(popPos);
+                    return;
                 }
                 break;
 
@@ -362,10 +398,42 @@ public class ProgramPresenter
         activePointIndex = -1;
     }
 
+    private async Task WaitForRobotToStopAndShowPopup(PopupState nextState)
+    {
+        while (await model.GetMovingState() == "1")
+        {
+            Debug.Log("�κ��� ���߱⸦ ��ٸ��� ��...");
+            await Task.Delay(100);
+        }
+
+        Debug.Log("�κ� ���� �Ϸ�. �˾� ǥ��.");
+        currentPopupState = nextState;
+
+        Vector3 popupWorldPos = Vector3.zero;
+
+        if (nextState == PopupState.ConfirmAddPoint)
+        {
+            popupWorldPos = ConvertRobotDataToVector3(pendingPointData);
+            popupView.ShowConfirmPopupFromPoint(popupWorldPos); // (�� ����Ʈ ��ġ)
+        }
+    }
+
+    private async Task WaitForRobotToStop()
+    {
+        Debug.Log("�κ� �̵� �Ϸ� ��� ��...");
+        await Task.Delay(200); // (������ ���޵� �ּ� �ð�)
+        while (await model.GetMovingState() == "1")
+        {
+            await Task.Delay(100);
+        }
+        Debug.Log("�κ� ���� �Ϸ�.");
+    }
+
     // Model�� ���� ���¸� �о� ��� View�� ���� ��ħ
-    private void RedrawSceneFromModel()
+    private async void RedrawSceneFromModel()
     {
         if (model.CurrentProgram == null) return;
+        await model.LoadProgram(model.CurrentProgram.ProgramId);
 
         // RobotProgram.Steps (List<RobotMoveStep>)�� List<RobotData>�� ��ȯ
         List<RobotData> poses = model.CurrentProgram.GetAllStepPoses();
diff --git a/Assets/Scripts/View/InteractionView.cs b/Assets/Scripts/View/InteractionView.cs
index cba61de..e221017 100644
--- a/Assets/Scripts/View/InteractionView.cs
+++ b/Assets/Scripts/View/InteractionView.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Collections;
 using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
@@ -15,7 +16,7 @@ public class InteractionView : MonoBehaviour, IInteractionView
 {
     public event Action<Vector3, Quaternion> OnRobotGrabbed;
     public event Action<RobotData> OnRobotReleased;
-    public event Action<int> OnPointClicked;
+    public event Action<int, Vector3> OnPointClicked;
     public event Action<int> OnPointDragStart;
     public event Action<int, Vector3, Quaternion> OnPointDragUpdate;
     public event Action<int> OnPointDragEnd;
@@ -30,11 +31,18 @@ public class InteractionView : MonoBehaviour, IInteractionView
     [SerializeField]
     [Tooltip("�巡�׿� ���콺 �̹���")]
     private GameObject dragArrow;
+    [SerializeField] private float clickTimeThreshold = 0.5f;
+    [SerializeField] private float dragMovementThreshold = 0.05f;
+    private Coroutine clickOrDragCoroutine = null;
+    private Vector3 startGrabPosition;
 
     private bool isInitialized = false;
     private bool isGrabbingPoint = false;
     private int currentGrabbedPointIndex = -1;
 
+    Vector3 currentTargetPosition = Vector3.zero;
+    Quaternion currentTargetRotation = Quaternion.identity;
+
     public bool isGrabbingRobot = false;
 
     void Start()
@@ -76,21 +84,29 @@ public class InteractionView : MonoBehaviour, IInteractionView
         }
         else
         {
-            Vector3 currentTargetPosition = Vector3.zero;
-            Quaternion currentTargetRotation = Quaternion.identity;
-
             currentTargetPosition = rayProvider.rayEndPoint;
             currentTargetRotation = baseInteractor.attachTransform.rotation;
 
+            if (isGrabbingRobot)
+            {
+                OnRobotGrabbed?.Invoke(currentTargetPosition, currentTargetRotation);
+                return;
+            }
 
             if (isGrabbingPoint)
             {
                 OnPointDragUpdate?.Invoke(currentGrabbedPointIndex, currentTargetPosition, currentTargetRotation);
             }
-            else if (isGrabbingRobot)
+            else if (clickOrDragCoroutine != null)
             {
-                OnRobotGrabbed?.Invoke(currentTargetPosition, currentTargetRotation);
+                float distance = Vector3.Distance(startGrabPosition, currentTargetPosition);
+
+                if (distance > dragMovementThreshold)
+                {
+                    StartDragMode();
+                }
             }
+
         }
     }
 
@@ -110,8 +126,6 @@ public class InteractionView : MonoBehaviour, IInteractionView
         {
             baseInteractor.selectEntered.RemoveListener(HandleGrabStart);
             baseInteractor.selectExited.RemoveListener(HandleGrabEnd);
-            //interactor.activated.RemoveListener(OnActivated);
-            //interactor.deactivated.RemoveListener(OnDeactivated);
         }
     }
 
@@ -128,7 +142,13 @@ public class InteractionView : MonoBehaviour, IInteractionView
             isGrabbingRobot = false;
             currentGrabbedPointIndex = point.pointIndex;
 
-            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
+            // Ÿ�̸� ����
+            startGrabPosition = rayProvider.rayEndPoint;
+            if (clickOrDragCoroutine != null) 
+                StopCoroutine(clickOrDragCoroutine);
+            clickOrDragCoroutine = StartCoroutine(ClickOrDragTimer());
+
+            //OnPointDragStart?.Invoke(currentGrabbedPointIndex);
         }
         else if (grabbedGO.CompareTag("RobotArm"))
         {
@@ -142,21 +162,57 @@ public class InteractionView : MonoBehaviour, IInteractionView
 
     private void HandleGrabEnd(SelectExitEventArgs args)
     {
-        if (isGrabbingPoint)
-        {
-            OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
-        }
-        else if (isGrabbingRobot)
+        if (isGrabbingRobot)
         {
             OnRobotReleased?.Invoke(new RobotData());
         }
+        else
+        {
+            if (clickOrDragCoroutine != null)
+            {
+                StopCoroutine(clickOrDragCoroutine);
+                clickOrDragCoroutine = null;
+
+                OnPointClicked?.Invoke(currentGrabbedPointIndex, currentTargetPosition);
+            }
+            else if (isGrabbingPoint)
+            {
+                OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
+            }
+        }
 
         // ���� �ʱ�ȭ
+        clickOrDragCoroutine = null;
         isGrabbingPoint = false;
         isGrabbingRobot = false;
         currentGrabbedPointIndex = -1;
     }
 
+    // Ŭ��/�巡�� �����ϴ� Ÿ�̸� �ڷ�ƾ
+    private IEnumerator ClickOrDragTimer()
+    {
+        yield return new WaitForSeconds(clickTimeThreshold);
+
+        if (clickOrDragCoroutine != null)
+        {
+            Debug.Log("�ð� �ʰ��� �巡�� ���� (OnPointDragStart)");
+            StartDragMode();
+        }
+    }
+
+    // Ÿ�̸� �����ϰ� �巡�� ���� ��ȯ
+    private void StartDragMode()
+    {
+        if (clickOrDragCoroutine != null)
+        {
+            StopCoroutine(clickOrDragCoroutine);
+            clickOrDragCoroutine = null;
+        }
+
+        isGrabbingPoint = true;
+        OnPointDragStart?.Invoke(currentGrabbedPointIndex);
+    }
+
     // �κ� ��ǥ��(mm)�� Unity ���� ��ǥ��(m)�� ��ȯ
     private Vector3 ConvertRobotDataToVector3(RobotData pose)
     {
diff --git a/Assets/Scripts/View/PointManagerView.cs b/Assets/Scripts/View/PointManagerView.cs
index 39b7ba5..49bd7ed 100644
--- a/Assets/Scripts/View/PointManagerView.cs
+++ b/Assets/Scripts/View/PointManagerView.cs
@@ -17,6 +17,11 @@ public class PointManagerView : MonoBehaviour, IPointManagerView
     [Tooltip("������ �κ� ���� IK")]
     public HybridInverseKinematicsNode kinematicsNode;
 
+    void Start()
+    {
+        movingAlert.SetActive(false);
+    }
+
     private Vector3 ConvertRobotDataToVector3(RobotData pose)
     {
         float x = Convert.ToSingle(pose.x / -1000.0); // mm -> m
diff --git a/Assets/Scripts/View/PopupView.cs b/Assets/Scripts/View/PopupView.cs
index 9a990af..23a2afd 100644
--- a/Assets/Scripts/View/PopupView.cs
+++ b/Assets/Scripts/View/PopupView.cs
@@ -50,27 +50,38 @@ public class PopupView : MonoBehaviour, IPopupView
         optionPopupPanel.SetActive(false);
     }
 
-    public void ShowConfirmPopup(Transform popPose)
+    public void ShowConfirmPopupFromRobot(Transform popPose)
     {
-        confirmPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
+        confirmPopupPanel.transform.position = popPose.position;
+        confirmPopupPanel.transform.LookAt(Camera.main.transform);
+        confirmPopupPanel.SetActive(true);
+    }
+
+    public void ShowConfirmPopupFromPoint(Vector3 popPose)
+    {
+        confirmPopupPanel.transform.position = popPose;
+        confirmPopupPanel.transform.LookAt(Camera.main.transform);
         confirmPopupPanel.SetActive(true);
     }
 
     public void ShowModifyPopup(Transform popPose)
     {
-        modifyPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
+        modifyPopupPanel.transform.position = popPose.position;
+        modifyPopupPanel.transform.LookAt(Camera.main.transform);
         modifyPopupPanel.SetActive(true);
     }
 
-    public void ShowDeletePopup(Transform popPose)
+    public void ShowDeletePopup(Vector3 popPose)
     {
-        deletePopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
+        deletePopupPanel.transform.position = popPose;
+        deletePopupPanel.transform.LookAt(Camera.main.transform);
         deletePopupPanel.SetActive(true);
     }
 
-    public void ShowOptionPopup(Transform popPose)
+    public void ShowOptionPopup(Vector3 popPose)
     {
-        optionPopupPanel.transform.SetPositionAndRotation(popPose.position, Quaternion.identity);
+        optionPopupPanel.transform.position = popPose;
+        optionPopupPanel.transform.LookAt(Camera.main.transform);
         optionPopupPanel.SetActive(true);
     }