The structural invariability principle and PID control were adopted to carry out force tracking from this point to another.
通过采用结构不变性原理及PID控制来实现力的逐点跟踪。
It is proven that the new controller can guarantee the perfect motion tracking. On the other hand, the force tracking error is bounded with the bound being adjustable.
证明了新的控制器一方面保证了运动的完全跟踪，另一方面保证了力跟踪误差是有界的且界的大小是可以调节的。
Besides, the paper applies improved impedance control based on foot position to make legs achieve good transition from sway status to supporting status and expected force tracking.
同时论文结合改进的基于位置的阻抗控制策略，实现了摆动足从摆动相到支撑相的良好过渡和期望的足力跟踪问题。
DRS 'applique Computer Systems support the Army's Blue Force Tracking requirements.
DRS的Applique计算机系统支持陆军的蓝军跟踪需求。
Force tracking experiments of contacting various stiffness environments of sponge, foam, and iron surfaces have been performed under both position inner loop control and impedance inner loop control.
在基于位置内环和阻抗内环的力外环控制方式下，进行了机器人接触刚度变化较大环境(海绵、泡沫和铁块)的力跟踪实验。
The force-tracking experiment results show that the system could satisfy the demand of accurate force control.
实验结果表明，该系统能够满足高精度力控制操作的性能要求。
The force-tracking experiment results show that the system could satisfy the demand of accurate force control.
实验结果表明，该系统能够满足高精度力控制操作的性能要求。
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