機械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，導致機構上之損壞，必須加入順應性控制。在人與機械人協同作業中，機械人根據操作者的導引進行作業，因此機械人必須具備順應外力，並產生適當順應性的能力。
本研究提出具負載補償策略之阻抗控制，除了使用阻抗控制賦予機械手臂順應能力之外，並考慮機械手臂夾取工作物件時，阻抗控制會因物件本身重力而產生錯誤的順應性，因此利用負載補償策略，扣除負載影響，讓機械手臂在進行位置/姿態阻抗控制時，可以獲得正確的力量/力矩資訊，使人類可與機械手臂順利完成協同任務。
在本研究實驗中，將使用具負載補償策略之阻抗控制，執行人類與機械人合作任務。當機械手臂夾持工作物件時，經由本研究所提出之負載補償策略，機械手臂可以扣除負載重力影響，且順應人類所施加力量/力矩資訊，進而達到位置/姿態的改變。從實驗結果得知，此控制器可以提供機械手臂具有良好的順應能力。

In position control, the manipulator needs only to follow a position trajectory. However, when the work environment is changing or the error of position command happened, both robot and environment could be damaged. It is necessary to join compliance control. In human-robot cooperation task, manipulator has to work with the guidance of operator. Manipulator must be have the ability to comply with external forces, and generates compliance ability.
In this study, impedance control with load compensation is proposed. Impedance control is applied to manipulator compliance ability, and considers the problem which is the gravity of load will generate error compliance ability. Therefore, using load compensation strategy to remove the influence of load, and manipulator could obtain accuracy forces/moments, when manipulator is used to do impedance control with human in human-robot cooperation task.
The experiment of this study, it will use the impedance control with load compensation to execute the human-robot cooperation task. When the gripper grasps a work object, gripper and work object is regarded a kind of loads for manipulator. This controller is used to remove the influence of load and applied to manipulator compliance ability to finish task. From the experimental results, this controller can provide manipulator has a good ability to comply forces exerted by human.

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