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针对机器人从自由空间运动控制过渡到约束空间力控制的过程中，存在冲撞、振荡甚至不稳定等问题，提出了利用加速度反馈为力控制提供阻尼，克服单纯依靠速度反馈的局限，进而稳定力控制系统的方法．这种方法不增加系统的复杂性，易于实现．本文对控制系统结构及控制策略作了分析．在一个直接驱动关节上的实验结果证明了本文分析的正确性，与只采用速度反馈的接触力控制相比，显示了这种方法的有效性
Aiming at the problems of the robot’s transition from free-space motion control to the constrained space force control, there are some problems such as collision, oscillation and even instability. The paper presents the use of acceleration feedback to provide damping for force control and overcome the limitation of simply relying on velocity feedback, System approach. This method does not increase the complexity of the system and is easy to implement. This article analyzes the control system structure and control strategy. Experimental results on a direct-drive joint demonstrate the correctness of the analysis presented here compared with contact force control using only velocity feedback, which shows the effectiveness of this approach