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使用矩阵代数理论研究了受限机器人系统的力与关节的ｈｙｂｒｉｄ控制问题，导出了一种新的力与关节的鲁棒自适应控制器设计方案．
The matrix algebra theory is used to study the hybrid control of force and joint in a constrained robot system, and a new robust adaptive controller design scheme is proposed.