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机器人力控制存在着动力学不稳定性问题，即系统响应速度和稳定性之间的矛盾。在操作空间一级引人加速度正反馈，既能使系统的响应频带变宽，又能提高系统阻尼。这种方法能有效地提高机器人对高刚度环境的适应性，使力控制的动力学不稳定性问题得到明显地缓和；另外本文研究了用加速度积分信号代替位置差分速度信号来消除差分噪声，提高力控制精度方法的应用前景。
The problem of dynamic instability of robot force control is the contradiction between the response speed and the stability of the system. Introducing acceleration positive feedback at the level of operation space can not only widen the response band of the system but also increase the system damping. This method can effectively improve the adaptability of robot to high stiffness environment and make the problem of dynamic instability of force control obviously relieved. In addition, this paper studies the use of acceleration integral signal instead of position differential velocity signal to eliminate differential noise and improve Application of Force Control Precision Method.