本論文針對以馬達為動力源之系統，依據阻抗控制精神設計了馬達之阻、助力控制的力覺回饋實現架構。文中設計了兩個可實現之控制器，分別針對動力回饋搖桿與虛擬實境健身車此二應用例進行實作驗證，並同時進行系統的穩定度分析，以確保所提出之控制器除可確實實現所需求之力感回饋外，於設計條件之規範內亦同時符合強健穩定之性能要求。本論文於動力回饋上，提出兩種控制器設計；第一種控制型態係採用參考模式控制架構搭配負載轉矩估測器，以位置控制之方法實現所設定之阻抗力感；第二種控制型態係以直接轉矩控制架構搭配低加速度估測器，以轉矩控制之方法，實現虛擬實境健身車需求之變動負載與不連續控制之功能。以上兩種控制架構，均不需要力量、速度、加速度感測器，具實務性。本研究並採用XE3建構虛擬實境場景，使得整體系統具有雙向互動之真實感。

This thesis presents two impedance control strategies, i.e., the model reference impedance control and direct torque control, for implementing a low-cost haptic system. In comparison with traditional compliance control systems, a PI-type disturbance observer was employed in the proposed model-reference impedance control system, and a “Low Acceleration Estimator (LAE)” was used in the direct torque control system, respectively, so that the torque, velocity and acceleration sensors were not required. The robust stability of the proposed controllers has also been proved mathematically. The two proposed control strategies can be widely applied to information technology, entertainment and military training, etc. due to their features of easy implementation and cost effectiveness. A powered force feedback joystick and a virtual reality exercise bike are taken as two application examples for demonstration. Experimental results show the feasibility and performance of the proposed methods.

[1] N. Hogan, “Impedance control: an approach to manipulation. Part I: Theory, Part II: Implementation, Part III: Application,” Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 107, pp. 1-23, March 1985.
[2] S. P. Patarinski and R. G. Botev, “Robot force control: a review,” Mechatronics, vol. 3, pp. 377-398, April 1993.
[3] M.-C. Tsai and H.-S. Chuang, “Design and implementation of force and position control with anti-windup conditioned transfer compensation,” Proceedings of the Institution of Mechanical Engineers, Part I, Journal of Systems and Control Engineering, vol. 215, pp. 57-70, July 2001.
[4] R. J. Anderson and M. W. Spong, “Hybrid impedance control of robotic manipulators,” IEEE Transactions on Robotics and Automation, vol. 4, pp. 549-556, October 1988.
[5] S. Chiaverini and L. Sciavicco, “The parallel approach to force/position control of robotic manipulators,” IEEE Transactions on Robotics and Automation, vol. 9, pp. 361-373, August 1993.
[6] R. Hanus, M. Kinnaert, and J. L. Henrotte, “Conditioning technique, a general anti-windup and bumpless transfer method.” Automatica, vol. 23, pp. 729-739, November 1987.
[7] K. Ohnishi, M. Shibata, and T. Murakami, “Motion control for advanced mechatronics,” IEEE/ASME Transactions on Mechatronics, vol. 1, pp. 56-67, March 1996.
[8] M. Ouhyoung, W.-N. Tsai, M.-C. Tsai, J.-R. Wu, C.-H. Huang, and T.-J. Yang, “A low-cost force feedback joystick and its use in PC video games,” IEEE Transactions on Consumer Electronics, vol. 41, pp. 787-794, August 1995.
[9] C. P. Kuan and K. Y. Young, “VR-based teleoperation for robot compliance control,” Journal of Intelligent & Robotic Systems, vol. 30, pp. 377-398, April 2001.
[10] H. Kazerooni and J. Guo, “Human extenders,” Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 115, pp. 281-290, June 1993.
[11] H. Kazerooni and M.-G. Her, “The dynamics and control of a haptic interface device,” IEEE Transactions on Robotics and Automation, vol. 10, pp. 453-464, August 1994.
[12] i-Magic Virtual Reality Trainer, In Tacx Web Site, May 2003, http://www.tacx.nl/.
[13] P. Lister, Ed., Single-chip Microcomputers. New York: McGraw-Hill, 1984.
[14] G. J. Lipoveki, Single- and Multiple-chip Microcomputer Interfacing. New Jersey: Prentice-Hall, 1988.
[15] D. M. Gorinevsky, A. M. Formalsky, and A. Y. Schneider, Force Control of Robotics System. New York: CRC Press, 1997.
[16] F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robotic Manipulators. New York: MacMillan, 1993.
[17] FANUC, Parameter Manual of -Series AC Servo Motor, FANUC, 1997.
[18] P. B. Schmidt and R. D. Lorenz, “Design principles and implementation of acceleration feedback to improve performance of dc drives,” IEEE Transactions on Industry Applications, vol. 28, pp. 594-599, May/June 1992.
[19] R. H. Brown, S. C. Schneider, and M. G. Mulligan, “Analysis of algorithms for velocity estimation from discrete position versus time data,” IEEE Transactions on Industrial Electronics, vol. 39, pp. 594-599, February 1992.
[20] S.-H. Lee and J.-B. Song, “Acceleration estimator for low-velocity and low-acceleration regions based on encoder position data,” IEEE/ASME Transactions on Mechatronics, vol. 6, pp.58-64, March 2001.
[21] Hewlett Packard Technical Staff, HP3563A Operating Manual, Hewlett Packard, 1990.
[22] M.-C. Tsai, E.-C. Tseng, and M.-Y. Cheng, “Design of a torque observer for detecting abnormal load,” Control Engineering Practice, vol. 8, pp. 259-269, March 2000.
[23] I. Gustavsson, L. Ljung, and T. Soederstroem, “Identification of processes in closed loop - identifiability and accuracy aspects,” Automatica, vol. 13, pp. 59-75, January 1977.
[24] M. V. Kothare, P. J. Campo, M. Morari, and C. N. Nett, “A unified framework for the study of anti-windup designs,” Automatica, vol. 30, pp. 1869-1883, December 1994.
[25] G. Ellis, Control System Design Guide. San Diego: Academic Press, 2000.
[26] C.-T. Chen, Analog and Digital Control System Design: Transfer-function, State-space, and Algebraic Methods. Fort Worth: Saunders College Publishing, 1993.
[27] C. L. Phillips and H. T. Nagle, Digital Control System Analysis and Design. New Jersey: Prentice-Hall, 1990.
[28] J. T. Wen and S. Murphy, “Stability analysis of position and force control for robot arms,” IEEE Transactions on Automatic Control, vol. 36, pp. 365-371, March 1991.
[29] P. C. Parks and V. Hahn, Stability Theory. New York: Prentice-Hall, 1993.
[30] G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems. New York: Addison Wesley, 1995.
[31] I. Stewart, Ed., Galois theory. New York: Chapman and Hall, 1989.
[32] C.-T. Chen, Linear System Theory and Design. New York: Oxford University Press, 1999.
[33] Texas Instruments Technical Staff, Code Composer User's Guide, Texas Instruments, 1999.
[34] Texas Instruments Technical Staff, JTAG/MPSD Emulation Technical Reference, Texas Instruments, 1994.
[35] Texas Instruments Technical Staff, TMS320C3x/C4x Optimizing C Compiler User's Guide, Texas Instruments, 1998.
[36] Texas Instruments Technical Staff, TMS320C3x C Source Debugger User's Guide, Texas Instruments, 1993.
[37] Texas Instruments Technical Staff, TMS320C3x User's Guide, Texas Instruments, 1997.
[38] 7DF20 with TG, Motor Catalog, Sinano Electrical Crop., Tokyo, Japan.
[39] J. C. Doyle, B. A. Francis, and A. R. Tannenbaum, Feedback Control Theory. New York: Macmillan, 1992.
[40] T. Yoshikawa, Y. Yokokohji, T. Matsumoto, and X. Z. Zheng, “Display of feel for the manipulation of dynamic virtual objects,” Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 117, pp. 554-558, December 1995.
[41] B. Shahian and M. Hassul, Control System Design Using MATLAB. New Jersey: Prentice-Hall, 1993.
[42] C. E. Wilson and J. P. Sadler, Kinematics and Dynamics of Machinery. New York: Addison Wesley, 1993.
[43] W. S. William and A. W. Panton, The Theory of Equations. London: Longmans, 1928.
[44] National Instruments Technical Staff, LabVIEW User Manual, National Instruments, 2001.
[45] K. J. Åström and B. Wittenmark, Adaptive Control. New York: Addison Wesley, 1995.
[46] J.-S. Hu, M.-C. Tsai, and K.-S. Hsu “Analysis and design of a haptic servomechanism: impedance control approach,” International Journal of Advanced Manufacturing Technology (Submitted 2003).
[47] Hewlett Packard Technical Staff, 控制迴路測試系統及應用, Hewlett Packard, 1990.
[48] 探矽工作室，嵌入式系統開發聖經。台北：學貫行銷，2001。
[49] 胡家勝，申秉弘，與 蔡明祺，“直流伺服馬達力回饋阻抗控制與實作，”中國機械工程學會第十九屆全國學術研討會論文集，控制與自動化，2002，pp. 89-96。
[50] 許桂樹，胡家勝，吳楷聲，與 蔡明祺，“動感觸覺搖桿裝置在娛樂系統之應用，”2003中華民國自動控制暨生物機電系統控制與應用研討會，2003，pp. 1381-1386。
[51] 足立修一原著；趙清風編譯，使用MATLAB控制之系統識別(MATLABによるディジタル信号とシステム)。台北：全華，2001。
[52] 蔡明祺，陳添智，陳正虎，胡家勝，吳木全，與 吳明哲，“健身復健阻助力控制系統，”中華民國專利申請號：91120541，九月十日，2002。(美國、日本、德國、大陸、台灣)
[53] 蔡明祺，林博正，胡家勝，吳楷聲，吳木全，與 吳明哲，“非奇異直接驅動型動力搖桿機構，”中華民國專利申請號：91133801，十一月二十日，2002。(美國、日本、德國、大陸、台灣)
[54] 工業技術研究院機械工業研究所，PMC32-600/6000使用手冊，工業技術研究院，2001。
[55] 工業技術研究院機械工業研究所，PMC32韌體開發技術手冊，工業技術研究院，2001。
[56] 洪錦魁，Turbo C入門與應用徹底剖析。台北：松岡，1993。
[57] 李宜達，控制系統設計與模擬。台北：全華，1998。
[58] 蔡明祺，許桂樹，胡家勝，與 吳楷聲，“娛樂系統用力覺回饋控制方法及其裝置，”中華民國專利申請號：92104632，三月五日，2003。
[59] 賴慕回 與 陳建治，電腦輔助印刷電路板設計實務：Protel PCB 99SE。台北：全華，2001。
[60] 楊憲東，精密機械控制原理與模擬。台北：全華，1998。
[61] 崎村耕二原著；張嘉容翻譯，英文論文寫作技巧(Useful Expressions for Research Papers in English)。台北：眾文，2002。
[62] 張碩編著，自動控制系統。台北：鼎茂圖書，1997。
[63] 小栗富士雄 與 小栗達男原著；黃葵森編譯，標準機械設計圖表便覽(標準機械設計図表便覧)。台北：眾文圖書，1993。
[64] R. A. Day原著；邱志威，吳定峰，楊鈞雍，與 陳炳輝編譯，如何撰寫及發表科學論文(How to Write and Publish a Scientific Paper)。台北：藝軒，2000。
[65] 潘震澤，科學論文寫作與發表。台北：藝軒圖書出版社，1996。
[66] 黃忠良編著，機械運動控制學。台南：復漢出版社，1997。
[67] 吳木全，吳明哲，蔡明祺，林博正，與 胡家勝， “虛擬實境裝置之動感平台機構，”中華民國專利申請號：92208884，五月十五日，2003。(美國、日本、德國、大陸、台灣)

※ 本論文參考文獻格式採用IEEE Style，中英文均同，先列英文後列中文。