現今機器手臂與環境面接觸的應用上，力量控制為其相當重要的課題。為了在位置控制模式下也能夠達到力量控制的要求，因此本論文設計混合位置/阻抗控制理論，採用阻抗控制讓機械手臂擁有虛擬阻尼、彈簧的順應環境面的功能，可以依據接觸力量與力矩資訊修正手臂位置與姿態，克服任務失敗或機械損壞之狀況，並且搭配位置控制提高任務之位置準確性。
本研究以自行開發之六軸機械手臂裝載力量感測器，透過力量回授資訊經順應性控制法則計算位置誤差，機械手臂調整位置誤差而賦予順應外力的能力。本論文設計兩種實驗，首先對於順應外力之阻抗控制參數調變進行討論，依據實驗結果來分析阻抗參數對系統之位置與力量響應之關係，根據任務的需求來對阻抗參數進行調整；再者進行圓銷與圓形孔洞之插銷實驗來驗證混合位置/阻抗控制法則，由實驗證實混合位置/阻抗控制在時間與位置有較佳的控制。

Force control is an essentially critical issue on the application between current robot arms and the contacting environment. To obtain the demand of force control with the position-controlled mode, we propose the compliance control of a hybrid position/impedance control. In this paper, robot arms adopt impedance control with virtual damping and the function of compliance to the environment like springs, which possibly modify the position and gesture of arms according to the contacted force and moment to prevent the fail of mission and the damaging situation. Moreover, it rises the positional precise while collaborating with position-control mode.
This research uses a six-DOF robot arm, self-designed by our laboratory, loading a six-DOF-sensor to gather information by force feedback to calculate the positional errors and for obtain the compliant capability of adjusting to the external force by correcting position of robot arm. We design two experiments to proof the algorithm. Firstly, we discuss the parameters of impedance control for the compliance external force. According to the experimental results, we analyze the relationship between position and force in the system by the corresponding relationship with impendence controlled parameters, and modulate the parameters of impedance control for the mission demand. Secondly, forward a task of the Peg-In-Hole, to verify the purpose of automated assembly using proposed the hybrid position/impedance control. The control method we presented could perform a better performance.

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