采用了基于力外环的机器人力控制器的方案。
A scheme of robot force controller based on external ring is adopted in this paper.
提出了基于机器人力控制表面跟踪的遥控焊接虚拟环境标定方法。
A method of virtual environment calibration for remote welding based on surface tracking with robot force control is proposed.
机器人力控制主要有两种方法，一种是阻抗控制，另一种是混合控制。
There are two major approaches for robot force control: first, impedance control, and second, hybrid control.
针对未知环境下机器人主动柔顺控制在工程中实现的问题，构造了一个开放式机器人力控制系统。
In order to deal with force-controlled execution of active compliance control in an unknown environment, an open architecture platform of robot force control is set up.
装配实验结果表明，利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。
The experiment results of the robotic assembly shown that the robot force controller designed in this paper was robust to the variations of the contact stiffness.
当机器人与外界环境发生接触时，接触刚度等不确定性因素对机器人力控制系统的稳定性有很大影响。
When a robot makes contact with external environments, some uncertainties from the contact stiff-ness have great effects on the stability of the force control system of the robot.
当机器人与外界环境发生接触时，接触刚度等不确定性因素对机器人力控制系统的稳定性有很大影响。
When a robot makes contact with external environments, some uncertainties from the contact stiff-ness have great effects on the stability of the force control system of the robot.
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