在执行机构的内室技术负荷力和压力可以描述为状态变量的情况下，将控制应用

Technical case where the load chamber and the pressure force of the actuator can be described as state variables, the control is applied in the form of a position control servomechanism similar to [3,5]. The difference is that changing the position of the force sensor. Pressure measurement technology constantly occur. A necessary condition to maintain the actuator in a stable position variable external load is maintained at atmospheric pressure chamber, to determine its movement. Automatic compensation of play occurs in the value of the known fire, based on this, the controller determines the normal flow through the control valve [10]. <br>In the basic method of force control, the force sensor signal of the position signal is converted to an algorithm (velocity) by modifying the control. It consists of a suitable force variation correction value of the position set value (speed) based. This approach enables the control system to an external force around the position control loop is closed. In control theory, the concept of controlled impedance and admittance control, which is based on the principle of mechanical systems and electrical systems analogy. This difference takes into account the fundamental difference between the admittance in force control and impedance method. About admittance type, when the power input to generate a flow (velocity) on the output, we say. A flow impedance of the object is generated in the input force is generated on the output object. Impedance control is not direct control, but to ensure the dynamic relationship between the position and force. This relationship involves not only the absolute position, but also to the set value and strength due to the movement caused by the offset position. The result of this impedance is connected to the lack of direct force control system, which is necessary in the admittance method [3,6].

In cases where the internal technical force and pressure of the executor can be described as a state variable, the application of control to the servo mechanism is similar to the form of positional control. The difference is the change in the position sensor to the force. Constantly measuring the occurrence of technical pressure. The necessary condition to maintain the stable position of the actuator in a variable external load is to maintain constant pressure indoors to determine its movement. Automatic compensation occurs at the known firepower value, on which basis the controller uses a control valve to determine the normal flow rate.<br>In the basic force control method, the signal of the force sensor is converted to a position signal (speed) by modifying the control algorithm. It consists of an appropriate correction set value based on the position (velocity) of the force change value. This method shuts down the external force control circuit around the position of the control system. In the control theory, the concept of guide control and impedance control is introduced, which is based on the principle of analogy between mechanical system and electrical system. This distinction takes into account the fundamental difference between the conductor and the impedance method in force control. With regard to the guide type, when the input's power generates a stream (speed) on the output, we say. An impedance object is an object that produces a flow in the input that exerts force on the output. Impedance control is not a direct control force, but a dynamic relationship between position and force. This relationship involves not only absolute position, but also the offset position of the set value and force caused by the movement. The result of this impedance method is the lack of direct force connections in the control system, which is necessary in the conduction method.

In the case that the inner chamber technical load and pressure of the actuator can be described as state variables, the form of applying control to the servo mechanism is similar to that of position control [3,5]. The difference is that the position sensor changes the force. Continuously measure the occurrence of technical pressure. The necessary condition to maintain the stable position of the actuator in the changeable external load is to maintain atmospheric pressure in the room, so as to determine its movement. The automatic compensation occurs at the known value of firing power. On this basis, the controller determines the normal flow through the control valve [10].<br>In the basic force control method, the signal of the force sensor is transformed into the position signal (speed) by modifying the control algorithm. It consists of an appropriate correction set value based on the position (velocity) of the force variation value. This method makes the external force control loop around the position of the control system close. In the control theory, the concepts of admittance control and impedance control are introduced, which are based on the principle of analogy between mechanical system and electrical system. This difference takes into account the fundamental difference between admittance and impedance methods in force control. As for the mobility type, when the input power produces a flow (velocity) on the output, we say. The impedance object is an object in which the current generated in the input exerts a force on the output. Impedance control is not a direct control of the force, but to ensure the dynamic relationship between the position and the force. This relationship involves not only the absolute position, but also the offset position of the set value and force caused by the motion. The result of this impedance method is the lack of direct force connection in the control system, which is necessary in the admittance method [3,6].