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

force-control — 力控制 SKILL

F_total = Kp × (F_desired - F_measured) + ∫Ki × (F_desired - F_measured) × dt

F = M × (ẍd - ẍ) + B × (ẋd - ẋ) + K × (xd - x)

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

F_total = Kp × (F_desired - F_measured) + ∫Ki × (F_desired - F_measured) × dt

F = M × (ẍd - ẍ) + B × (ẋd - ẋ) + K × (xd - x)

force-control