本論文提出以適應性控制解決含有不確定項的Delta機械臂追跡問題，並分別考慮Delta機械臂在自由空間與受限空間下的控制器設計方法。文中會先回顧Delta機械臂的建模與過去的控制方法，再設計適應性控制器解決參數不確定的問題。其設計過程以循序漸進的方式，改善傳統的適應性控制方法，並以電腦模擬證明其可行性。其結果會呈現在各個章節中，並在結論中做出比較，以得到最實用的Delta機械臂適應性控制器。

In this thesis, various adaptive tracking controllers are proposed to Delta robots with parametric uncertainties in both free space and constrained setting. Firstly, the system with known parameters are considered with traditional control strategies. The parameters are then assumed to be uncertain so that conventional regressor-based adaptive designs are introduced. Two version of regressor-free adaptive schemes are then given with rigorous justification of closed loop stability. All these designs are verified with simulation cases to prove their feasibility.

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