A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.
为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。
The push-pull combination content distribution strategy is general applied to live systems because of its limitation such as redundant packets, poor dynamic adaptability and so on.
推拉结合的内容分发方案由于存在较多冗余数据和动态适应性较差等缺陷，一般只能适用于直播系统。
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