力量控制對於機器人的操作上是ㄧ項相當重要與基本的應用。本論文建立三套系統的力量控制方法，其中包含點接觸與線接觸施力機構的拋光力量控制以及針對旋轉式空壓致動器發展其扭力量測系統。在控制的方法中加入各別的動態特性以及應用控制理論於其控制法則中，以期望達到良好的控制結果。在控制的電路系統上，線接觸拋光施力機構與空壓致動器扭力量測系統使用工研院的EPCIO運動控制卡，亦即PC based的系統進行控制。而在點接觸拋光的力量控制上則是採用嵌入式系統的設計方法，以DSP進行即時的力量控制，並以可程式邏輯IC透過USB2.0與主控PC進行命令及資料的傳輸。在本研究中，以嵌入式系統取代PC based作為控制中心，以期望略過PC based的不能以硬體即時控制的缺點後，能夠提高整體控制速度。

Force control is one of the most important and fundamental tasks for robotic applications. The purpose of the thesis is to establish the force control methods for three applications. Two of them are polishing force control for both point contact and line contact mechanisms. The third one is a torque measurement system for air actuators. In order to get good control results, we add dynamic characteristics and control theory into the control programs. In this study, we use a motion control card (EPCIO) to control the line contact force mechanism and the torque measurement system. The control system belongs to PC based. In the point contact force mechanism, we use an embedded system for that system. A DSP chip serves as a main computer for the control algorithm. The data flow is managed by a CPLD and transferred to PC via a USB2.0 interface. Since PC with Win/TEL lacks of hardware real time capability, the only way to improve the control efficiency is to replace a PC by an embedded system. The results of these three control systems are presented.

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