隨著自動化與智慧化的發展，機械手臂的使用越來越廣泛，應用層面也由重複性工作演進為人機協作之複雜運用。本論文分別以順應控制中的阻抗控制與導納控制等架構設計教導器，方便機械手臂運動規劃，實現人機協作的功能。為了使機械手臂與外界環境的作用力產生順應性，需要取得機械手臂的外界接觸力資訊。一般而言，外界接觸力可直接使用力量感測器量測或間接設計觀測器估測取得，本論文同時使用此兩種方法取得外界接觸力資訊。此外，觀測器與機械手臂的阻抗控制架構需要使用系統動態模型且模型精準度對兩者的影響甚大，因此需準確鑑別機械手臂的動態模型。使用任一順應控制架構設計教導器皆需要將機械手臂軸空間的冗餘自由度、力與力矩對應不同空間的轉換以及機械手臂賈可比矩陣的奇異點納入考量。本論文所設計出之順應控制教導器除了可讓機械手臂對工作空間的接觸產生順應性外，也可藉由使用不同的賈可比矩陣決定是否讓機械手臂的姿態具有順應性，以應對較為複雜的運動規劃。順應控制的質量、阻尼等參數值取決於運動規劃所需之精確度、速度與使用者感受。最後，本論文將順應控制教導器應用於六軸機械手臂並且達到期望的實驗結果。

Thanks to progress in automation and artificial intelligence, robot manipulators have become more widely used, particularly for more complex tasks such as human-robot collaboration. This thesis employs two of the commonly used compliance control structures – impedance control and admittance control – to design compliance-control-based teach pendants for robot manipulators so as to facilitate motion planning and human-robot collaboration. In particular, to design a control scheme such that the robot manipulator is compliant to the applied force of the human operator, the external force information is essential. In this thesis, both force sensors and observers are used to estimate external contact force. Since the dynamic model of the robot manipulator is required when implementing impedance control schemes and/or external force observers, the dynamic model of the robot manipulator must be accurately identified. Robot joint redundancy, force and torque transformation between different coordinates, as well as the robot Jacobian singularity problem, are some issues to be dealt with while designing a compliance control-based teach pendant for robot manipulators. The compliance control-based teach pendent developed in this thesis can make the contact between the end-effector of the robot manipulator and environment compliant. Moreover, by exploiting a 6-D robot Jacobian matrix in the control scheme which makes it possible for the user to determine whether a specific pose of the robot manipulator is compliant so as to deal with complex motion planning problems. Compliance control parameters such as mass and damping coefficients depend on the design requirements of motion planning such as motion accuracy, speed, and the feeling of the user. Finally, the compliance control-based teach pendant developed in this thesis is applied to a real 6-axis industrial robot manipulator. Experimental results indicate that the compliance control-based teach pendant developed in this thesis exhibits satisfactory performance.

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