近十年來，越來越多的機器人不再是設計來執行危險或自動化的工作，而是能與人類進行友善的接觸。本論文的目標在於建構一隻能夠與人類共存的類人形機械手臂，所建構的機械手臂具有7自由度，主要由肩部、肘部與腕部所構成，其中肩部與腕部關節皆採用滾動-搖動-擺動的設計形式，並針對肩部的三關節設計有被動式順應性機構。本論文並提出以PID控制演算法為基礎的控制策略，以進行機械手臂於自由與限制空間中的控制。最後，並以一組實驗來驗證機械手臂的安全性與性能。

In the recent decade, more and more robots have been designed not to perform hazardous or automated tasks, but to interact with humans in a friendly manner. The objective of this thesis is to create an anthropomorphic robot arm that can share the environment with humans. The constructed robot arm with 7 degrees of freedom consists of shoulder, elbow and wrist joints. The shoulder and wrist are spherical joints with roll-pitch-yaw equivalents. A passive compliant mechanism is proposed for each equivalent of the shoulder. A control strategy based on PID control algorithm is also proposed to control the robot arm in both unconstrained and constrained task spaces. Finally, a set of experiments are conducted to verify the safety and performance of the constructed anthropomorphic robot arm.

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