影响力－位置混合控制机器人工业应用的主要障碍之一在于其工作任务的描述比较复杂，对使用人员的要求比较高．本文提出了一种新的工作任务描述方法．该方法建立在机器人的微运动描述之上，使描述工作由获得控制参数变成分析微运动组成，大大降低了任务描述难度，可使操作者较方便地描述机器人的工作任务． Impact - One of the major obstacles to industrial control of location-based hybrid control robots is the complexity of their job descriptions and the high demands placed on them. This paper presents a new method of task description. The method is based on the description of the micro-motion of the robot so that the description can be changed from the control parameter into the analysis of the micro-motion, which greatly reduces the difficulty of the task description and makes it easier for the operator to describe the robot’s task.