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利用Ｌａｇｒａｎｇｅ动力学方程对普通机器人和ＭＡＣＲＯ／ＭＩＣＲＯ组合式机器人两种力控制系统的稳定性进行了分析，分析表明后者更稳定。由于ＭＡＣＲＯ机器人结构动态和力传感器动态的影响，组合式机器人在高频时存在着共振与反共振，为了提高系统的高频性能，提出了一种优化粘性阻尼系数的方法，结果表明，当驱动力为０．５Ｎ时，采用此方法可以使机器人与环境的接触力的变化范围由０．１９～１．１２Ｎ减小为０．４４～０．５０Ｎ。
Lagrangian dynamics equations are used to analyze the stability of two kinds of force control systems of ordinary robots and MACRO / MICRO combined robots. The analysis shows that the latter is more stable. Due to the dynamic structure of the MACRO robot and the dynamic influence of the force sensor, the combined robot has resonance and anti-resonance at high frequency. In order to improve the high-frequency performance of the system, a method of optimizing the viscous damping coefficient is proposed. The results show that, When the force is 0.5N, this method can reduce the range of the contact force between the robot and the environment from 0.19 ~ 1.12N to 0.44 ~ 0.50N.