In the end , the stability is discussed under the coulomb friction model , getting the normal force compensation method and the additive vibration control method , which are to stabilize the friction drive system to realize the controllability and stability , which is simple to realize in the micro manipulator 并通過(guò)對(duì)coulomb摩擦模型的穩(wěn)定性討論,得出正壓力補(bǔ)償控制法,即以穩(wěn)定摩擦力驅(qū)動(dòng)摩擦振子實(shí)現(xiàn)微操作手運(yùn)動(dòng)的可控性及穩(wěn)定性的方法分析。通過(guò)數(shù)值方法驗(yàn)證正壓力補(bǔ)償控制法的適用性,為微操作器的運(yùn)動(dòng)控制提出可行方法。