·哪位高手帮忙翻译下，不胜感激啊，急用，谢谢了

Question

To mitigate the effects of friction and inertia introduced in conventional geared actuators, as described above, a load cell and a feedback control algorithm can be used. The load cell
measures the force imparted on the load by the actuator. The feedback controller calculates the error between the measured force and the desired force and applies the appropriate current to the
motor to correct any discrepancies. The active force sensing and closed loop control work together to decrease the effects of friction and inertia, thereby attaining a higher force fidelity
and lower impedance than with current control alone.However, the load cell method has several shortcomings. First, a stiff load cell can present stability problems. Consider the case of a stiff load cell between a linear actuator and rigid load.
Even a slight linear movement will generate extremely large force readings on the load cell. A high-gain feedback controller would quickly pull the actuator away from the load, causing the
force to drop rapidly. The result would be chatter between the actuator and the load. To avoid chatter and maintain stability, the closed loop control gains must be kept very low. The result is
a sluggish control system that is unable to respond to small forces. Thus, the effects of friction and inertia cannot be completely masked with the closed loop control system. In addition, shock loads can easily damage the actuator system if a stiff load cell is employed. Both the load cell and gear reduction are susceptible to frequent and expensive damage.While electric actuators can control force by controlling current, pneumatic and hydraulic systems can control force by controlling pressure. In both cases, seal friction can significantly hamper the ability to produce small forces. Pneumatic systems also suffer from low power
density and are difficult to position control. Hydraulic systems generally have high impedance due to both seal friction and large fluidic inertia. Fluidic muscles or McKibben Muscles are
pneumatic actuators that deform an elastomeric tube to create a contracting force. While fluidic muscles do not have any sliding seals and therefore can reliably produce small forces, they are generally not a good choice for force control applications due to their nonlinear response,hysteresis, and small stroke to length ratio.An ideal force-controllable actuator would be a perfect force source, outputting exactly the commanded force independent of load movement. In the real world, all force-controllable actuators will have limitations that result in deviations from a perfect force source. These limitations include impedance, stiction, and bandwidth. An actuator’s impedance is the additional force created at the output by load motion. Impedance is a function of the frequency of the load motion, typically increasing with frequency of load motion. An easily backdriveable system is considered to have low impedance.
不要这中拿软件翻译的，这种我自己都会

Answer 1

为了减轻影响的摩擦和惯性，介绍了在传统的面向动，如上文所述，负载细胞和反馈控制算法可以使用。称重传感器
措施警队传授对负载所动。反馈控制器计算之间的误差来衡量部队和理想的力量和适用适当的电流给
电机，以正确的任何差异。积极力量遥感和闭环控制的工作，共同努力，减少的影响，摩擦和惯性，从而实现更高的力量富达
和较低的阻抗比与电流控制alone.however ，称重传感器的方法有几个缺点。首先，激烈的称重传感器，可目前的安定问题。考虑到案件僵硬负荷细胞之间的直线驱动器和僵化的负荷。
即使是轻微的直线运动将产生非常大的力量读的负载细胞。高增益反馈控制器将迅速拉动远离负荷，造成
部队迅速下降。其结果将是颤振之间的致动器和负荷。为了避免颤振，保持稳定，闭环控制的收益必须保持非常低的。结果是
不景气的控制系统是无法回应的小势力。因此，影响了摩擦和惯性，不能完全蒙面与闭环控制系统。在此外，冲击负荷可以轻易地破坏了制动系统，如果僵硬负荷细胞是受雇于。双方负荷单元和齿轮减少，很容易受到频繁和昂贵的damage.while电动执行机构可以控制的力量，通过控制电流，气动和液压系统可以控制的力量，通过控制压力。在这两种情况下，密封的摩擦可大大妨碍了生产的能力小的力量。气动系统也受到来自低功耗
密度和难以控制的立场。液压系统通常都具有高阻抗，由于这两个密封的摩擦和大型射流的惯性。射流肌肉或mckibben肌肉
气动执行机构认为，变形一弹性管，以创造一个订约的力量。而射流肌肉，这样做不会有任何滑动的封条，因此可以可靠地生产的小部队，他们一般不是一个好的选择，武力控制等方面的应用由于其非线性响应，迟滞，和小中风长度ratio.an理想的力量可控动会是一个完美的力量的来源，输出完全独立的指挥力量负荷运动。在现实世界中，所有的力量可控的致动器将有限制，结果在偏离一个完美的力量来源。这些限制包括阻抗，黏附，和带宽。一动的阻抗是额外的力量创造了在输出负载的议案。阻抗是一个功能的频率负荷的议案，通常是增加频率与负载的议案。一个容易backdriveable制度是考虑到低

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