本文提出了一种操作器分散自适应阻力控制方法．这种方法不要求知道操作器动态模型的结构和参数，采用分散控制的形式，可以对各自由度单独进行控制，因此计算简单有效，具有一定的容错能力，控制系统有较好的暂态性能，由于控制律以操作空间坐标形式描述，适合于具有冗余自由度的操作器的控制．计算机仿真表明了该方法的良好的控制效果 This paper presents a decentralized adaptive operator control method. This method does not require knowledge of the structure and parameters of the dynamic model of the manipulator. In the form of decentralized control, each degree of freedom can be controlled independently. Therefore, the calculation is simple and effective, has some fault tolerance, and the control system has better transient performance Because control law is described in terms of operating space coordinates, it is suitable for the control of operators with redundant degrees of freedom. Computer simulation shows the good control effect of this method