通过对阻抗模型参数进行模糊调节减少受限运动中的力误差，提高了全局的力控制效果。
Moreover, impedance model parameters are adjusted fuzzily to reduce the force errors in the constrained motion and improve the global force control performance.
在这种反向耦合中，移动板的位置对移动它的力有影响，可以产生变化的复杂运动。
Such a back-coupling, in which the position of the moving plate has an impact on the forces that move it, could produce complicated and varying motions.
这个力会产生这样的作用，有一个运动中的带电微粒，磁力会使其轨道偏转，并在磁场中做旋转。
And that force tends to cause it, if you have a moving charged particle, to deflect its trajectory and start rotating in a magnetic field.
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