在產業全球化與人口結構演變趨勢下，擴大並深化了工業機械手臂的在各產業應用範疇，所要面對的任務也越加的多樣化，如精密組裝、拋光、電子零件製程應用，單純的位置命令控制機械手臂已經不能滿足以上的任務。
為了使機械手臂能在位置控制模式下，執行精密組裝任務，本研究提出以位置命令為基礎阻抗控制搭配裝配控制策略來進行螺絲裝配，採用阻抗控制讓機械手臂終端效果器具有虛擬的質量、彈簧、阻尼，使得終端效果器在未知的環境下，依據力量/力矩感測器量測到與外界環境的接觸力/力矩資訊，並經過力量/力矩座標系轉換法，將感測器所量測到資訊轉換到終端效果器，使機械手臂能夠順利完成任務。
本研究以終端效果器，夾取螺絲裝配組件，應用以位置命令為基礎之阻抗控制，搭配螺絲裝配控制策略，以便螺絲裝配任務能夠順利完成。首先驗證力量/力矩座標系轉換的必要性，再實現以位置命令為基礎之阻抗控制，搭配螺絲裝配控制策略進行裝配任務。我們使用兩種公制(M8、M6)螺絲，分別進行三種不同拴緊扭力的裝配任務，以實現此控制方法的穩定性。

The universal popularity of industrial manipulators in a variety of industries can be observed due to the globalization of industries and the evolution of demographic structure. Following these dramatic changes, tasks, such as precision assembly, polishing and application of electronic components, which manipulators need to deal with in the future are becoming much more diversified. Position command-controlled robots in the past, therefore, can no longer achieve the tasks mentioned above.
A position command-based impedance control with a assembly control strategy for implementation of screw assembly is exemplified in this thesis to present manipulators conducting precision assembly in position control mode. The use of impedance control equips the end effector on the manipulator with virtual mass, spring and damper, which enables the manipulator to complete the tasks in the unknown environments with the help of the end effector acquiring the measured data from the force/torque sensor and the contact force/torque of the exterior environments through the transformation of coordinate frame.
The experiment in this thesis demonstrates how an end effector holds a screw component in the use of position command-based impedance control and screw assembly strategy to achieve the assembly task. Firstly, the necessity of the transformation of coordinate frame of the force/torque is to be proven and secondly the assembly task is to be implemented with position command-based impedance control and screw assembly strategy. Two types of screws (M8 and M6) are chosen in three separate tasks of different fastening torque to represent the abovementioned control method.

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