ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

The research object is a force bilateral servo system in which the master side is a hydraulic manipulator and the slave side is a hydraulic cylinder actuated robot. Facing the concussion problem occurred when the slave hand contact rigidity object, a strategy-switching algorithm was proposed. A four-channel slave driving strategy was used to the flexible load and a three-channel strategy without slave force was used to the rigidity load. The switch was judged by the ratio of slave force and velocity. It is proved by the experiments that the strategy is valid and the concussion problem of the former strategy when catching rigidity object could be avoided.