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把非冗余度机器人位置／力混合控制方案引入到冗余度机器人，用线性化的动力学模型对其运动学稳定性进行分析，提出一种改进的基于运动学稳定的冗余度机器人混合控制策略．仿真研究结果证明了所提出方法的有效性．
The non-redundant robot position / force hybrid control scheme is introduced to the redundant robot, and its kinematic stability is analyzed by the linearized dynamic model. An improved hybrid robot based on kinematic stability is proposed Control Strategy. Simulation results show the effectiveness of the proposed method.