隨著自動化科技之發展，工業用機械手臂的使用越來越多，而其運用也從單一性重複的工作，轉換為與人或環境有所交互作用之運作行為。本論文之主旨為開發工業用機械手臂之順應控制功能，並以順應控制中的阻抗控制為本論文研究之主要方向。為了使機械手臂與外界環境產生順應性，須取得機械手臂與外界環境的接觸力資訊，而外界接觸力取得的方式包括有感測器之量測以及外力估測法之估測，本論文同時使用此兩種得取外力之方法，並觀察其應用於阻抗控制中之優缺點。阻抗控制為機械手臂順應性產生的重要方法之一，除了一般阻抗方法之實現之外，也藉由位置內迴路的引入來增加其抗干擾之能力，以改善其循跡精度；另外還提出一可變阻抗控制，利用阻抗系數之調整，使得阻抗控制系統不論在碰撞前的循跡運動以及碰撞時的外界接觸力，都會有較好之效果。最後，本論文對於一般阻抗控制以及可變阻抗控制進行穩定性分析，得出一組抗控制參數之穩定性條件，可以用來進行阻抗參數調變時，判斷系統是否穩定之標準。

With the development of automation technology, more and more applications of industrial robot have appeared, and these applications have evolved over the past few years from simple and repetitive work to some tasks involving interaction with humans or the environment. This thesis is aimed at developing the compliant control of robot manipulators with impedance control as one kind of compliant control to be the main research focus in this thesis. In order to produce compliant motions between robot manipulators and the environment, it is necessary to get the information about the external force between robot manipulators and the environment. Using sensors and observers are two methods to attain the external force, both of them are used in this thesis to find their strengths and weaknesses in impedance control. Impedance control plays an important role to help the robot manipulator to produce compliant motion. In addition to the original impedance control scheme, an impedance control scheme with an inner position loop is used to reduce the effect of the disturbance and improve the accuracy of tracking. Additionally, a variable impedance control is proposed which provides the robotic system with good performance either before the interaction or during the interaction with the adjustment of impedance parameter. Finally, this thesis provides stability analysis to impedance control and variable impedance control, and obtains a stability condition which is able to ensure the stability of the system when the impedance parameters are adjusted.

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