阻抗控制能够实现位移与力的统一控制，是实现柔顺力控制的主要理论依据之一。
The unionize control of position and force can be realized by impedance control, which is one of main compliant force control theory.
论文的研究为气液联控系统进一步应用到气动工业机器人的柔顺力控制中奠定了基础。
The research of paper established foundation of further application to compliant force control of pneumatic industry robots.
为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。
A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.
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