| 摘要 |
Linkage system between a first part and a second part capable of movement relative to each other, incorporating a link capable of transmitting forces between the first and second parts and a frequency control loop for said link incorporating means of measuring a distance separating the first and second parts, a frequency filter for said measurements in a given frequency band and means for comparing these filtered values with a set point, said control loop controlling the link such that it transmits forces only in the given frequency band, the frequency control loop being a position control loop, a speed control loop being incorporated in the position control loop, and a force control loop being incorporated in the speed control loop.
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