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回顾了机器人柔顺控制研究历史．介绍了目前的研究现状，详细分析了现有的４种研究策略，提出了机器人主动柔顺控制的４大关键问题，展望了发展趋势——智能控制
Reviewing the history of robot compliance control. The current research status is introduced, four existing research methods are analyzed in detail, and four key problems of active compliance control of robot are proposed. The development trend of intelligent control