當使用者施加外力於機器人的末端效應器時，若能保證人機互動的安全與流暢，則手動導引可以有效地提高機器人使用時的便捷性。本文提出一可自動調變參數的適應導納控制律，用以改變機器人在工作空間中關鍵區域的順應性，例如奇異點附近、關節角度極限和工作空間極限位置，以實現平穩和安全的操作。此外，透過三維輪廓追蹤實驗比較不同參數調變法則，驗證本文所提出之方法能以較短的任務執行時間達成較高之精度。

Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental comparison among various parameter tuning strategies is conducted through a 3D profile tracking test. The results show that the proposed method achieves higher accuracy with shorter task execution time.