工業製造上，插配被廣泛的應用，如手機製造業和汽車。在插配過程中，位置與姿勢的誤差容易發生卡阻問題，導致機器手臂與工件損毀。因此，只有使用位置控制插配是相當困難的。為了克服這些問題，必須加入順應性控制，因此機器人在插配過程中，隨著接觸力的改變產生適當的順應能力。
本研究實驗中，分別使用位置控制，阻抗控制和混合位置/阻抗控制執行插配任務，比較三種方法在位置的精準度和所花費的時間。藉由實驗結果得知混合位置/阻抗控制與阻抗控制皆能順應環境且完成任務，但混合位置/阻抗控制在位置精準度比較準確，時間也花費較少，因為在插入的方向保持位置控制快速到達目標，而其餘方向保持阻抗控制避免損壞設備。結合此兩種控制器的優點，調整位置與姿勢，使機器手臂順應插配任務。從實驗結果驗證，此控制器提供機械手臂具有良好的順應能力。

In manufacturing industries, peg-in-hole tasks are widely applied, such as phone manufacturing and automotive. Thus, in case of peg-in-hole, jamming easily occur because of position/orientation errors. That may damage the robot arm and work piece. For this reason, it is very difficult to peg-in-hole by only position control. In order to overcome this problem, it is necessary to join compliance control. In peg-in-hole process, robot arm generates compliance ability with change of the contact force.
In this study, position control, impedance control and hybrid position/impedance control were used to execute the task of peg-in-hole. Comparison between three methods in accuracy and execution time were investigated. Experimental result shows that hybrid position/impedance control executed task successfully. From experiment, we found hybrid position/impedance control is the most accurate and the fastest compare to the others method. Hybrid position/impedance control maintains the inserted direction with position control to reach the target quickly, and the other directions are maintained with impedance control to avoid equipment damages. Advantages of two controller methods and adjust position/orientation are combined to make robot arm compliant when performing peg-in-hole tasks. Experimental results confirm, this controller provides robot arm with good compliance ability.

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