本論文針對n軸撓性關節機械臂提出適應阻抗控制的新設計。相較傳統適應控制，新設計除了減少估測參數數量，並不需藉助Slotine & Li修正來避免singularity，也不用回授關節加速度，更無需計算複雜的迴歸矩陣。如此一來不僅簡化推導過程，也因估測數量減少而降低運算硬體需求，讓本方法更接近工業應用的實現。本文最後以電腦模擬二軸撓性關節機械臂在平面受限空間中的順應運動，來驗證新設計的有效性，並與傳統適應控制方法做性能比較。

This thesis proposed a new adaptive controller design for controlling flexible-joint manipulators in the constrained space. Compared to the traditional adaptive control, the new approach reduced the number of estimated parameters, and avoided Slotine & Li’s modification, angular acceleration feedback and computation of regressor matrix, thereby enhancing computational efficiency and simplifying the derivation process. Based on the new approach, implementation is more suitable in realization in industry environment. Finally, the simulation results are shown to prove effectiveness and to compare performance between the new and the traditional methods.

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