近年來，投入機械手臂研究的學者越來越多，相對的，機械手臂控制的研究也越來越受重視，傳統作法是將伺服馬達驅動器設定為位置模式(Position Mode)來控制機械手臂的運動，而該方式已經無法應付未來更多的應用場合，解決方法是將伺服馬達驅動器設定為轉矩模式(Torque Mode)來控制機械手臂的運動，然而要使用轉矩模式來控制機械手臂必須掌握機械手臂的動態模型。本論文根據機械手臂的結構建立機械手臂的動態模型，並設計實驗去求得動態模型的系統參數，並以各種基於模型之位置控制方法來進行循跡控制實驗以驗證動態模型的精確度。實驗結果顯示使用基於模型之位置控制方法所產生的循跡誤差很小，可推論本論文所使用的動態系統建模方法是有效的。另外隨著工廠生產型態的改變，人與機械手臂將會在同一個場域協同工作的需求與日俱增，但是當機械手臂意外撞擊發生時，可能會造成人員或是財產的重大損失。解決方法之一是在機械手臂上安裝感測器以偵測意外撞擊的發生，但是安裝感測器所費不貲，且後續所需的維修與保養更是花錢。本論文實作了兩種無感測器式(Sensorless)的干擾量觀測器(Disturbance Observer)來偵測意外撞擊，並實作了數種意外碰撞發生後的安全防護策略，可以根據工廠生產的實際情形去選擇要採取何種策略。機械手臂傳統上是透過教導器(Teach Pendant)來規劃其工作路徑，可是這樣的作法對於現場作業人員來說並不容易，因為還要花時間去學習如何操作教導器介面，為解決此一問題，有越來越多學者或研究機構在思考如何開發更容易上手的直覺式教導器，可直接用手拉著機械手臂去規劃工作路徑。本論文以干擾量觀測器為基礎，針對直覺式教導提供了電助力教導以及順應控制教導這兩種解決方案，給予機械手臂順應性(Compliance)，讓使用者能夠用手輕易的引導機械手臂於工作軌跡上移動。

In recent years, more and more researchers are investigating in the fields related to robot manipulators. As a result, research topics concerning robot manipulator control deserve more investigation. Traditionally, the servomotors used to control the motion of the robot manipulator are set to the position mode. However, this approach was not suitable for many applications used in future. One of the solutions to the aforementioned problem is that the servomotors used to control the motion of the robot manipulator are set to the torque mode. In order to use the torque mode, the dynamic model of the robot manipulator is essential. In this thesis, the dynamic model of robot manipulator is derived according to the robot’s physical structure used in the experiment, and the parameters of the dynamic model are identified from designed experiments. After identifying the parameters of the dynamic model, several tracking experiments using different existing model-based control laws are conducted to verify the effectiveness of the identified dynamic model. Experimental results indicate that the tracking error is small so as to verify that the system identification procedure of the robot manipulator is effective. Due to the change in modern manufacturing type, the need that the workers and robot manipulators cooperate together to complete tasks keeps increasing. An accident collision on the robot manipulator may cause damages on users or robot manipulator itself. A common solution is to equip sensors on robot manipulators in order to detect the accident collision, though the sensors are usually expensive. This thesis has investigated two types of disturbance observers for detecting the accident collision, and several strategies for avoiding damages when collisions happen. A suitable strategy can be selected according to the type of products a factory manufactured. Traditionally, the manufacturers of the robot manipulators provide an interface called the teach pendant for user to control the robot manipulator and plan the motion trajectory. However, in many occasions the teach pendant is not an easy solution for human operators since it may take a lot of time to learn how to use the teach pendant. In view of this, many researchers develop the intuitive robot guider which allows users/operators to grasp a robot manipulator’s end effector to guide/pan a trajectory for the end effector to follow. By employing the disturbance observer, this paper provides solutions to the intuitive guider by a power assisting system and compliance control. The intuitive guider developed in this thesis can provide the robot manipulator with “compliance” and allow users to grasp the end effector to move it freely.

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