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Showing SKILL.md
Based on SOC occupation classification
| name | force-control |
| description | 力控制 — 力矩控制、力位混合控制、阻抗控制，适用于装配、磨抛、医疗机器人 |
| argument-hint | 力控制 OR force control OR 力矩 OR impedance control OR 阻抗控制 OR hybrid force-position |
| user-invocable | true |
agents/skills/motion-control/balance-control/agents/skills/ros2-debug/F_total = Kp × (F_desired - F_measured) + ∫Ki × (F_desired - F_measured) × dt
F = M × (ẍd - ẍ) + B × (ẋd - ẋ) + K × (xd - x)
| 参数 | 值 |
|---|---|
| 刚度 K | 可调 (0-1000 N/m) |
| 阻尼 B | 可调 |
| 质量 M | 可调 |