本研究延續文獻中無力量感測器的阻抗控制架構，使用了變化擴展狀態即時觀察器估計機械手臂所受到之外力，解決了原架構忽略加速度造成的估測外力擾動現象，以及僅能使用於阻抗控制的限制。本研究將機械手臂之動力學模型、控制法扭矩輸出、編碼器獲得的角位置及速度資訊整理為擴展狀態空間模型後，使用零階保持器將其離散化，再設計即時觀察器估測外力。最後將此無力量感測器的阻抗控制架構實現於Delta robot並整合觸覺回饋裝置，使其作為遙控主端提供從端Delta robot期望位置的資訊，而Delta robot之外力估計值則回傳給主端作為觸覺回饋的依據。碰撞實驗的結果顯示外力估計的性能良好，且能擬合力量感測器之數值。

This research continues the sensorless impedance control framework from the previous literature. The new method applies the modified extended state current observer to estimate the external force of the robot. It is not limited to the impedance control and eliminates the estimated force disturbance caused by ignoring the acceleration in the previous work. In this research, the extended state space model is developed by using the robot dynamic model, the torque output of the control law, and the angular position and speed information obtained by the encoder. After the model is discretized with zero order hold, a current observer is designed to estimate the external force. Finally, this framework of sensorless impedance control is implemented in the Delta robot and is integrated with the haptic feedback device. A remote control master device provides the desired position to the slaver Delta robot, and the estimated external force of it is returned to the master devise as the basis for haptic feedback. The results of the collision experiment show that the external force estimator has a good performance, and the estimated force matches the measurement from the force sensor.

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