近些年來機械臂的應用相當廣泛，為了辨識機械臂和工件的相對位置，在工業界多應用CCD(change couple device)來取得影像資訊進而定位，但CCD受限於環境的關係，很難廣泛的應用，為了能代替用CCD來量測工件的外型和位置，本論文發展用力量感測的五軸機械臂來做接觸式的量測，藉由順應運動(Compliant motion)的理論，使裝有力量感測器的端效器能順利地找出工件的邊界，臂利用模糊控制(Fuzzy control)的應用在順應運動上，藉由這個方式來改善原有的順應控制，使機械臂在尋找工件的邊界時，能加快其尋找工件邊界的速度和精確性，另外藉由一連串的實驗，來驗證本文所提出的順應控制理論的可行性。 Recent years, the application of robot is extensive. In order to recognize the relative position between robot and workpiece, CCD (change couple device) is applied to get the image information to orientate, but it is restricted by environment, and it’s not easy to apply extensively. In order to substitute CCD to measure the shape and position, we use a five-axis robot with a force sensor to do the contact measurement. Using the complaint motion controller, the end-effector with force sensor, which can detect the boundary of workpiece smoothly. And using the algorithm of Fuzzy applies in compliant motion, depending on this method improves the compliant control, when robot looks for the boundary of workpiece, it will be very fast and accuracy to look for the boundary of workpiece. In addition, depending on continuous experiments verify the practicability of compliant control algorithm by this thesis.
