A force control method based on inner position loop was discussed and applied to the control of exoskeleton suit.
讨论一种基于位置内环的力控制方法，并将其应用于骨骼服的控制之中。
In the inner closed loop, general PID control method based on encoder feedback of motor is adopted, and in the outer closed loop, a new fuzzy control based on position feedback of joint is adopted.
利用电机码盘反馈构成内位置环控制，采用一般的PID控制律；通过关节位置反馈形成外位置环控制，采用模糊控制算法。
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.
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。
According to all of these characteristics of the system, a three-loop fuzzy sliding control mode is adopted, the speed and position loop are outer loop, and the current loop is inner loop.
根据系统这一特点，采用三闭环模糊滑模控制策略，外环为速度和位置闭环，内环为电流闭环的方法设计控制器，并进行了仿真实验研究。
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。
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。
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