工業型機械手臂通常應用於重複性高的動作，像是取放、搬運等等，這些動作通常是以位置模式控制的架構下實現，然而當機械手臂作業中需與外界環境接觸時，例如:研磨、拋光、去毛邊等…，就得考慮機械手臂終端的受力情況，因此必須使機械手臂對外力具有順應性的能力，而針對自動化打蠟這項作業，順應性控制中的混合位置/力量控制是可以達成目標的一種方法。
混合位置/力量控制是將機械手臂的六個自由度個別分成位置部分與力量部份去進行控制。由於六軸機械手臂終端力量控制之動力學模型是相當複雜與運算量大，在扭力模式下進行控制是非常不容易的，並且事實上機械手臂通常在位置模式架構下執行作業。因此本論文中混合位置/力量控制之力量部分使用PID控制器實現在位置模式架構下的終端力量控制，藉由力量/力矩感測器所量測到的外力與期望力量比較後產生的力量誤差信號經過PID控制器後輸出位置命令，其特性是在位置模式下，只需得到控制器的輸出再將位置帶入機械手臂反向運動學、調整機械手臂終端的位置即可達成力量部分的閉迴路控制。位置部分則是使用五次多項式進行軌跡規劃，設計出位置、速度以及加速度皆是連續的軌跡，使機械手臂能夠平滑、順暢的移動；最後將這兩部分整合在一起，建構出混合位置/力量控制應用於自動化打蠟系統架構。
實驗部分首先驗證力量/力矩坐標系轉換法的正確性，接著使用PID控制器並且加入死區策略進行力量控制實驗，最後再將單純位置控制下進行打蠟實驗與本研究所提出混合位置/力量控制架構進行打蠟實驗之結果進行比較，證實針對打蠟這項任務，本研究所提出控制方法有效，並且使不同材質的終端打蠟工具去驗證本研究方法可使用的彈性。

Industrial robots are usually used to do repeated work. For example, pick and place, handling and so on. At the same time, these robots are generally controlled under position control mode. However, it is necessary to consider about the external force of the end-effector when the robots need to contact with the environment of objects in the specific task, such as grinding, polishing, deburring and so on. Hence, the robot arm must have the ability of sensing and compliance for the external force. In the case of waxing, hybrid position/force control is a good way to implement.
Hybrid position/force control is a strategy to divide the robot arm’s six degree of freedom into parts, one is position control part, and the other is force control part. The dynamic model of six axes robot arm is so complicated that it is very difficult to control the robot arm under torque control mode. And the fact is that robots usually do the task under position control mode. So the PID controller is utilized to implement the force control of the end-effector. The advantage of PID controller is that it is easy to realize the end-effector’s force control under the position control mode. The closed loop control is achieve after getting the controller’s output, which is displacement of the end-effector, and then computing robot’s inverse kinematics to order the robot to adjust the position. The quintic polynomial is used for trajectory planning, robot will do the smooth motion by designing the trajectory which position, velocity and acceleration are all continuous.
Finally, the waxing system is realized by integrating the position part and the force part.
The experiment of the study include the fundamental experiment of the transformation of force/moment, force control, waxing under position control and waxing with hybrid position/force control strategy. At last, the method of the study will be proved as a better way to waxing task by comparing the result of position control and hybrid position/force control method. Moreover, the applicability of waxing system proposed by this study is proved by using sponge and woolen wheel as two kinds of different waxing tools.

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