研究μ理论在柔顺力控制系统中的应用。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。综合考虑参数变化、模型变动和外来干扰等不确定性,利用μ综合控制理论设计鲁棒力控制器。通过μ分析比较鲁棒力控制器和经典力控制器的鲁棒稳定性和鲁棒性能。给出鲁棒力控制器和经典力控制器的实验结果,表明所设计鲁棒力控制器的有效性和优越性。 Study of μ theory in compliant force control system. In order to simulate the launch and the process of the forced calibration phase of space docking, a compliance control strategy based on the 6-DOF parallel robot inner loop is proposed. Considering the uncertainties such as parameter change, model change and external disturbance, the robust force controller is designed with μ integrated control theory. The robust stability and robust performance of the robust force controller and the classical force controller are compared by μ analysis. The experimental results of the robust force controller and the classical force controller are given, which shows the validity and superiority of the designed robust force controller.