機械臂常被賦予以接觸的方式認知環境及在拘束面上加工的使命，所以機械臂常使用速度/力量混合控制。當機械臂與拘束面接觸並沿著拘束面移動時，就開始對機械臂執行速度/力量混合控制，使機械臂末端在拘束面的切線方向做速度控制，在拘束面的法線方向做力量控制，因此判斷拘束面的走向是十分重要的工作。但是以力量感測器的受力方向來判斷拘束面走向，容易因為力量感測器的輸出訊號振盪而產生過大的拘束面角度計算誤差，導致力量控制的效果不彰。因此，本研究提出以紅外線距離感測器進行拘束面量測的方法，配合幾何演算法，不但可以事先獲得拘束面走向，也能精確地將力量控制及速度控制的方向修正至正確的方向上。

Manipulator is usually given the mission to recognize the constraint in the environment by contact and to work on the constraint. Accordingly, manipulator is usually controlled by velocity/force control method. When the manipulator touchs and follows along the constraint, it begins to execute velocity/force hybrid control at the same time. End effector of manipulator moves on tangent direction of the constraint by velocity control, and moves on normal direction of the constraint by force control. Accordingly, determining the angle of the constraint is an important mission. But, measuring the angle of the constraint with contact force brings about huge constraint direction measure error because the vibration of the output signal of the force sensor. That will cause the effect of force control to be bad. Therefore, we develop a method, which can measure the angle of the constraint by IR range finder, and combine with the algorithm we have developed; the method can not only measure the angle of the constraint in advance, but also fix the directions of velocity control and force control to correct direction accurately.

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