摘要
柔顺控制能使机器人对外力的变化作相应的响应，本文通过实际的插入实验来证实在有偏心或偏角的情况下，机器人采用柔顺控制完成插入任务所要用的力比采用位置控制时小。
compliance control allows a robot to respond well to the change of the externalforces,By uSin8 loading test under the conditions of eccentric angle and eccentricity,it is proved thatthe compliance control robot in loading uses smaller furce than place control.
