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.
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