近年來智慧自動化的發展蔚為潮流，隨著機器人於日常生活中的應用日益普遍，機械手臂的人機互動功能也成為產業界與學術界的研究重點。本論文之主旨為開發選擇順應性裝配機械手臂的順應控制功能，使機械手臂能夠對使用者所提供的外力表現出適當的順應性。在開發順應控制功能時，需取得機械手臂與外界環境的接觸力資訊，外力資訊通常可藉由力量感測器取得，但力量感測器之價格昂貴且容易有硬體配置空間不足之問題，故採用無力量感測器之方法進行外界接觸力估測。本論文中分別使用電動輔助力控制架構及阻抗控制架構以實現機械手臂之順應控制功能。電動輔助力控制是獲取使用者所提供的力量資訊後，透過馬達系統產生一輔助力，以協助使用者在操作馬達裝置時達到省力之效果。阻抗控制則是透過控制器之設計，使機械手臂末端模擬一質量－阻尼系統，以產生順應環境的特性，並藉由調整質量係數與阻尼係數來改變機構的順應程度。

In recent years, the development of intelligent automation has become an inevitable trend. As the robots become more and more popular in human daily life, human-robot interaction has become an important research topic for industry and academics. This thesis aims at developing compliance control methods on selective compliance assembly robot arm (SCARA), so that robot arms are able to adapt to external forces. In order to develop compliance control methods, the contact force information between the robot arm and the external environment needs to be obtained. Generally, the information of external forces can be obtained by using force sensors. However, the force sensors have some disadvantages such as high costs and additional requirements for extra configuration space. Therefore, this thesis employs sensorless methods for obtaining external forces in order to avoid potential problems caused by using force sensors. In this thesis, two control structures – power-assisted control structure and impedance control structure – are implemented on a SCARA to improve its robot compliance during human-robot interaction. A power-assisted controller can provide an assisting force to a motor system after obtaining the external force information. With the assisting force, users can save efforts and time while operating the motor system. On the other hand, this thesis uses a robot arm to simulate a mass-damper system, which can provide a compliant behavior to the robot arm. In addition, different modulation strategies for calculating power-assisted gains and impedance parameters are proposed and tested in this thesis.

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