In this paper,the desired position and velocity are updated,and the trajectory with the continuous jerk is designed to ensure the manipulator could work in a fast and stable manner.At the same time,the manipulator is designed as a whole Cartesian sensor system,and the real-time force feedback path is established.The results of the trajectory tracking experiment and force-fol-lowing interaction experiment illustrate the validity of the proposed algorithm,which can achieve safe manipulator control in the free or contact environment.%通过给定的期望点位置和速度,设计具有加速度导数连续的实时路径规划,使机械臂在自由空间能够快速平稳地操作；基于力矩传感器反馈,通过笛卡儿阻抗控制将机械臂设计为一个整体的笛卡儿力感知系统,并模拟人手运动建立具有实时力反馈的路径规划,使机械臂在接触环境下既避免碰撞损伤又能完成操作任务.实验证明,基于力伺服的路径规划和笛卡儿阻抗控制可以实现机械臂在自由环境和接触环境下的安全操作.
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