機器人一般使用位置控制時，會因系統的控制誤差或外界環境產生改變時，導致機構上之毀損，因此必須加入順應性運動控制。由於一般阻抗控制無法調整阻抗參數，順應外界環境的變化，當手臂夾持負載時會因負載之重力產生不正確之順應性。故本研究提出具有負載補償之可調變阻抗控制，當人類與機械手臂共同執行任務時，藉由負載補償策略獲得正確的順應性，並搭配可調變阻抗控制，達到順應外界環境之改變。本研究實驗分為兩部分，負載補償實驗與人類和機械手臂協力作業實驗。由結果驗證負載補償之策略的可行性，接著與人類和機械手臂協力作業之實驗結合，使得操作者在牽引機械手臂，可以達到調整阻抗參數之目的。最後並與文獻[19]方法之實驗結果進行比較，驗證本文系統之實用性。

The robot generally work in position control, where the system error of control and the environment changes might destruct the institution. Therefore we add the compliance motion to control the robot control system. The impedance control can not comply with the difference of the original external environment, because the control method can’t self-adjust the parameters of impedance control system. Moreover the grippers of the robot with the arm produce don’t correct compliance by the load of gravity caused the problem of the error performance of compliance. In this study we proposed a variable impedance control with load compensation. In order to adapt the changes of the external environment, we use load compensation and variable impedance control in human-machine cooperation-work. This experiments contain two parts which are the load compensation experiment and human-machine cooperation-work experiment. The results of the load compensation and human-machine cooperation-work experiment show the strategies are useful and implement. Finally, the results of experiments compared with the Ref.[19] in consequence of better performance.

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