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对机器人执行跟踪控制任务提出了一种新方案．当机器人的运动受到环境约束时用这一控制可执行一族跟踪任务，因为采用了相对速度表示的约束模型，力控制与约束运动控制能自动分解．具体给出了两种力控制律．此外，对于复杂的控制任务建立了递阶的控制结构．
A new scheme is proposed for robots to perform tracking control tasks. This control can be used to perform a family of tracking tasks when the robot’s motion is subject to environmental constraints. Because of the constraint model of relative velocity representation, force control and constraint motion control can be automatically decomposed. Specially gives two kinds of force control law. In addition, a hierarchical control structure is established for complex control tasks.