英语翻译However,each paper suggests that it is not easy to flexi

英语翻译
However,each paper suggests that it is not easy to flexibly
achieve the target tasks by using mere force control
methods such as hybrid position/force control [15] and
impedance control [16].The difficulty is clear from the
results that special hardware mechanisms such as manipulators,
tools,sensors and measuring systems have been
considered according to each manufacturing process [5–
7,10,14].There also exist several problems that should be
overcome at the present stage.In [6],experiments are only
conducted using a thick straight aluminum sheet,so that
the capability to polish a curved surface cannot be discussed.
In [7],airfoil profiles must be beforehand measured by a profile measurement unit based on a touch probe
when the robotic system is applied.The measurement is
one of complicated and unwelcome teaching processes.In
[14],although end-effectors with a force sensor and a tool
are proposed for deburring,friction forces acting between
the tool andworkpiece are not handled.The friction forces
in mold polishing have large effect on the quality and the
efficiency.
Unfortunately,curved surface must be addressed in the
case of polishing PET bottle molds,so that the required
goal is considerably high.Additionally,when a force-controlled
robot contacts with a stiff environment as a metallic
mold,dynamic stability issues should be dealt with [17].It
is actually known that no advanced polishing robots have
been successfully developed yet on a commercial basis for
such metallic molds with curved surface as PET bottle
molds,due to the poor polishing quality and the complicated
operation.The reasons why conventional polishing
robots based on an industrial robot could not satisfactorily
finish the curved surface of molds are listed as follows:
非常紧急，十分重要的文件，恳请各位网友鼎力相助。好的回答悬赏可以大范围还价！这是第二部分。

然而,每个提出灵活是不容易的
达到目标任务仅仅利用力控制
掺杂方法:混合位置/力控制(15)
阻抗控制[16].困难的是准确的
结果,专门硬件机制如机械手,
工具、传感器和测量系统
考虑,并根据每一制程[5 -
7、10、14].也存在一些问题,应
克服目前阶段.在[6],实验是唯一
进行了使用粗直铝板,这样
波兰的能力无法曲面进行了讨论.
[7],翼型剖面必须事先测测量单位联系的基础上探针
机器人系统的应用.这种测量
一个复杂的、不受欢迎的教学过程.在
[14],虽然end-effectors与力传感器和工具
提出了在修边去毛刺、摩擦有力作用之间
工具andworkpiece不处理.摩擦力量
模具抛光有影响质量和
效率.
不幸的是,曲面中需解决的
案例的抛光PET瓶模具,因此要求
目标是相当高.此外,当一个控制力
机器人接触用硬环境为金属
模具、动态稳定性问题处理应[17],
实际上是知道,没先进抛光机器人吗
被成功开发了然而在商业方式
这种金属模具,曲面当宠物瓶子
模具、由于穷人抛光质量和复杂
操作.传统的抛光的原因
机器人以工业机器人不能令人满意
完成曲面模具如下: