傳統阻抗控制器之設計需要知道精確的系統模型，並且要用力量感測器來回授接觸力。本文提出以函數近似法為基礎的適應阻抗控制器，與力量估測器，來處理系統中的未知項，並免除力感測器之安裝。本研究除了以數學驗證系統穩定度外，並以實驗來測試所提方法之有效性。其中特以力量感測器回授來比較力量估測器的凖確度。另外，針對位置控制與力量控制之切換問題，本文提出以函數近似法為基礎的適應阻抗控制器與PID力量伺服控制之組合來解決之，並以實驗來驗證其效能。

The traditional impedance controller design needs the information of the exact model, and its realization requires the feedback of the force sensor. This thesis proposes an adaptive impedance controller based on the function approximation technique, and designs a force estimator to perform the compliant motion control of a motor. This implies that the control strategy used in this thesis is force sensor free. In addition to rigorous mathematical proof of the closed-loop stability, an experimental setup is also built to justify the system performance. An actual force sensor is installed to verify the effectiveness of the force estimation performance as well. We also propose a method to enable the impedance controller to have force regulation ability which is also proved by experimental studies with satisfactory performance.

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