Motion control and force control were combined with each other via ellipsoids.The simulation example shows the effectiveness of the control algorithm.

• 用伪逆控制时，两机械手实际可操作性不能逼近期望的椭球.；文中通过椭球把运动和力的控制结合起来，仿真实例证明了文中控制算法的有效性