本論文針對機電控制中必須考慮接觸力影響的系統，設計控制器使系統的動態行為轉換成預設的機械阻抗特性。透過此控制策略，可賦予系統期望的動態行為；在與環境的幾何限制互動時，亦能表現出適當的順應性。本控制架構的實現與傳統的阻抗控制有明顯的不同，其不需要力量感測器的回授，但必須裝置加速度規；耗費成本相對較低，在產品化的發展更具競爭力。最後，經實驗證實，無論是自由空間或受限運動，本研究所提出之控制器皆能展現優良的控制效能。

In this thesis, we propose a strategy for the compliant motion control of mechatronic systems by impedance modulation. In steady of the costly force sensors used in the traditional impedance control, this approach requires only the acceleration feedback. In some low acceleration cases, we may also use acceleration observers to implement an accelerometer-free algorithm. Experimental results show that the proposed controller can achieve improved performance during the compliant motion phase.

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