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对力－位置混合控制机器人工作任务描述中的几个关键问题进行了较细致的研究，分析了机器人与操作对象间相互作用力产生的原因，讨论了工作任务的伪完成态问题，并对工作任务描述的完整性问题作了进一步的研究。研究结果表明只有掌握了工作任务描述的实质，并对任务执行过程有深入、完整的了解，才能圆满地完成工作任务描述工作。
Several key problems in describing the tasks of hybrid force-position hybrid control robot are studied in detail. The causes of the interaction between the robot and the operating object are analyzed. The pseudo-complete state of the task is discussed. The integrity of the task description has been further studied. The results show that only by grasping the essence of the task description and having a deep and complete understanding of the task execution process can the job description be completed satisfactorily.