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对机器人的力反馈、主动柔顺控制和模糊神经网络进行了综合研究，提出了力／位并环控制策略，建立了相应的模糊神经网络结构，实施了力／位并环控制算法，在ＡｄｅｐｔＴｈｒｅｅ精密装配机器人进行了试验，取得了满意的效果。
The force feedback, the active compliance control and the fuzzy neural network are studied comprehensively. The force / position and loop control strategy is proposed. The corresponding fuzzy neural network structure is established and the force / position and loop control algorithm is implemented. In the AdeptThree precision The robot was tested and achieved satisfactory results.