隨著近年來自動化的發展越趨成熟，機器人的應用場合也變得相當普遍，因此人機協同的各種功能也成為熱門研究重點之一。本論文分別研究並探討順應控制下的導納控制與阻抗控制應用於機械手臂教導器之成果。在執行教導器任務時，首先需取得機械手臂所受到的外力資訊，通常由力量感測器或觀測器取得，本論文研究了四種外力估測方法，並觀察各種方法之優缺點。一般而言，順應控制透過控制器的設計將機械手臂末端點模擬為一質量－阻尼系統，讓使用者能順暢地拉動並進行教導。本論文所設計之基於順應控制機械手臂教導器除了基本的教導功能外，也可藉由使用者的速度變化調整阻尼係數來增進拉動軌跡的精確性。此外，本論文並研究人手係數與人機互動下參數穩定空間，再設計基於不同人手係數之線上補償器，減少使用者教導任務所需時間與出力。最後，本論文將以上所討論之各種方法實現於六軸機械手臂，實驗結果顯示本論文所設計之基於順應控制機械手臂教導器確實可行。

Robot manipulators have become widely used in recent years, particularly in areas such as human-robot interaction. This thesis implements two compliance control structures – impedance control and admittance control for teach pendants of robot manipulators and assess their performance. The external force information which is essential in teaching tasks can be acquired by force sensors or observers. This thesis implements four kinds of external force observers and compares their advantages and drawbacks. In general, to facilitate the operator’s teaching task, a compliance control scheme is designed to control the motion of the manipulator’s end-effector so that its behavior can be described as a mass-damper system. By doing so, the operator could drag the end-effector smoothly along any trajectories. In addition to the basic function of teach pendant, this thesis also discusses the adjustment of damping parameters based on velocity variations to improve the accuracy of moving along a desired trajectory. In addition, this thesis studies the stability conditions under human-robot interaction by taking into account human arm coefficient. A fuzzy RBF impedance compensator based on the human arm coefficient is then designed to reduce the task time and energy consumption of the teaching task. Finally, all the methods discussed in this thesis are applied to a real 6-DOF industrial manipulator. Experimental results indicate that the compliance control based teach pendent developed in this thesis indeed is feasible.

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