研究了力约束机器人系统的任务规划与控制问题。所开发的力约束协作机器人协调优化运动规划和力分配算法考虑了各种特定任务的要求，适用于生产单元中的任何运动学和任何分配。所开发的混合控制方案的特点是其在各种类型的任务和分层结构中的有效性。通过对两个六关节工业机器人典型协作机器人系统的仿真，验证了任务规划和控制概念和算法的有效性。

TASK PLANNING AND CONTROL OF FORCE-CONSTRAINED ROBOT SYSTEMS ARE INVESTIGATED. THE DEVELOPED ALGORITHMS FOR THE COORDINATED OPTIMAL MOTION PLANNING AND FORCE DISTRIBUTION OF FORCE-CONSTRAINED COOPERATING ROBOTS TAKE VARIOUS TASK SPECIFIC REQUIREMENTS INTO CONSIDERATION AND ARE ADAPTABLE TO ANY KINEMATIC AND ANY ASSIGNMENT IN THE PRODUCTION CELL. THE DEVELOPED HYBRID CONTROL SCHEME IS CHARACTERIZED BY ITS VALIDITY IN VARIOUS CLASSES OF TASKS AND ITS HIERARCHICAL STRUCTURE. THE VALIDITY OF THE CONCEPTS AND ALGORITHMS FOR THE TASK PLANNING AND CONTROL WAS SUCCESSFULLY PROVEN BY SIMULATION ON TYPICAL COOPERATING ROBOT SYSTEMS WITH TWO SIX-JOINTED INDUSTRIAL ROBOTS USING EXEMPLARY TASKS.