近年來由於自動化技術的發展，大部分的製造過程已被自動化設備取代，唯有組裝部分仍須仰賴大量的人力。其中主要是因為機械手臂並不如人類的雙手柔順，無法完成細緻的組裝動作，這個問題尤其在組裝電子零件時特別明顯。目前在執行自動化組裝時，必須先使用教導的方式設定孔位或零件位置，再控制機械手臂進行重復動作。然而在組裝的過程中，因為加工精度的限制或零件的滑動及鬆脫等突發狀況，常會造成組裝位置偏差而損壞零件。
因此本研究提出混合阻抗與模糊控制，利用架設在機械手臂終端器上的六軸力感應器量測力與力矩，動態調整機械手臂的位置與姿態(角度)，使其在有誤差的情形下仍能完成插銷動作。為了克服環境干擾的影響，利用卡爾曼主動觀測器即時補償阻抗控制的位置輸出。此外本研究亦提出速度與軌跡修正策略以加快插銷速度。

With the advance of automation technology in recent years, most of the manufacturing processes have been replaced by automated equipments, from which the parts assembly tasks are being excluded and still rely on manpower. The major reason is that the robotic arm is not as flexible as human hand, and therefore robot arms are unable to complete the intricate assembly tasks, especially the assembly of electronic components. Currently, before a robot arm can execute an assembly task automatically, all the part positions need to be calibrated by using the control panel, and then the operator makes the robot arm move repetitively. However, during the practical assembly operation, the components are often damaged due to the misalignments caused by the limited precision, slippery, loose parts and so on.
As a result, a hybrid impedance and fuzzy control is proposed in this research. By measuring the reactive force and torque with a force sensor mounted on the robot end effector during the peg-in-hole operation, the position and the attitude of the robot arm can be adjusted in real time to overcome the error caused by misalignment. To eliminate the effect of environmental disturbances, a Kalman active observer is used to offset the output position from the impedance control. In addition, the speed strategy and the routing strategy are proposed to increase the assembly speed.

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