哪位高手帮忙翻译下，不胜感激啊

Question

State-of-the-Art Force Control Technology
Traditional technologies for force control include current control with direct drive actuation,current control with a geared actuator, current control with low-friction cable drive transmissions, load cells with force feedback, and fluid pressure control.In a direct drive actuator, a high quality servomotor is directly connected to the load and the torque output is accurately controlled using the relation between motor torque and motor current.However,servomotors operate inefficiently at the low speeds and high torques required in most robotic applications. To compensate for their small torques, direct drive servomotors are selected with a power rating much higher than the actual useful power output. This practice
results in an ungainly and expensive design. While direct drive actuators are a good approximation of a perfect force source, they are typically too large and heavy for robots that must support the weight of their actuators. Their use is therefore limited to applications where the actuator can be placed in a non-moving base of the robot.Alternately, smaller and lighter servomotors can be used in low speed/high torque applications if a gear reduction is used to reduce the speed and increase the torque of the motor output. The reduction allows the motor to operate in its “sweet spot” (high speed/low torque), while providing the low speed/high torque output characteristics desirable in most robotic applications.Current control can then be applied to the geared actuator to control force output.A gear reduction has the major drawbacks of introducing significant friction and of increasing
the reflected inertia at the output of the gearbox. In fact, friction can become essentially infinite in some types of non-backdriveable gear reductions with large reduction factors. Such a system would result in extremely poor force fidelity. Since the reflected inertia seen at the output of the actuator increases by the square of the gear ratio, the actuator’s impedance also becomes extremely large. Given these performance characteristics, servomotors with gear reductions relying on current control are unsuitable for use in applications requiring high quality force
controlled actuators.Significant improvements can be made to geared actuators by using cable drive transmission in lieu of conventional gear reductions. Geared actuators have non-linear, non-continuous dynamics such as stiction and backlash that are hard to model and thus hard to compensate for.Cable drive transmissions, on the other hand, have low stiction and low backlash. Their dynamics are fairly linear and easy to model. Dynamic models of the drive train can then be used in the force controller to help mask the effects of actuator inertia and viscous friction.However, cable drives require large pulleys in order to get a significant transmission ratio. In many applications, space is too limited to accommodate these large pulley systems.
不要这中软件翻译的

Answer 1

传统的技术，为部队的控制，包括电流控制与直接驱动的驱动，电流控制与面向动，电流控制与低摩擦电缆驱动变速器，负载细胞与力反馈，和流体压力control.in直接驱动器驱动器，高品质的伺服电机是直接连接到负载和输出力矩是准确地控制使用之间的关系电动机的扭矩和current.however电机，伺服运作的效率在低速和高扭矩需要在大多数的机器人应用。为了补偿他们的力矩小，直接驱动伺服选定与额定功率远远高于实际有用的输出功率。这种做法
结果在一ungainly和昂贵的设计。而直接驱动致动器是一个很好的近似一个完美的力量来源，他们通常是过大和过重的机器人必须支持的重量，其动。其使用，因此只限于应用而动，可以放置在一个非动基座的robot.alternately ，更小更轻伺服可以用在低速/高扭矩的申请，如果一个齿轮减少，是用来减少的速度和增加转矩电动机输出功率。减少，使汽车经营在其“甜蜜点” （高速/低扭矩） ，同时提供低速/高扭矩输出特性的可取之最机器人applications.current控制便可以应用到面向致动器来控制的力量output.a齿轮减少的主要弊端，引入了重大的摩擦和增加
该所反映的惯性，在输出的变速箱。事实上，在摩擦可以成为基本上是无限的，在某些类型的非backdriveable齿轮减少与大型减少的因素。这种制度将导致在极其恶劣的力量保真度。由于反映的惯性看到的输出驱动器加广场的传动比，致动器的阻抗也变得非常大。鉴于这些性能特点，伺服与齿轮减少，依靠电流控制是不适合使用的应用需要高品质的力量
控制actuators.significant可以改善作出面向动用电缆驱动器传输来代替传统的齿轮减少。面向动已非直线，非连续的动态，如黏附和反弹，这是很难模型，从而努力，以补偿for.cable驱动变速器，在另一方面，低黏附和低反弹。它们的动态是相当线性且易于模型。动态模型驱动的列车便可以使用该部队的控制，以帮助面具的影响作动的惯性和粘性friction.however ，电缆驱动器需要大量皮带轮在以取得显着传动比。在许多应用中，空间十分有限，为了容纳这些大滑轮系统。