In tightly controlled environments, simple control loops, like this, work OK.

在严格控制的环境中，像这样的简单控制循环可以正常工作。

This is what our simpler control loop used before.

这就是我们之前使用的更简单的控制循环。

That would cause the control loop to take over again, this time backing the gripper up.

这将导致控制回路再次接管，这次支持夹具。

A badly tuned control loop might overshoot and overshoot and overshoot, and maybe even wobble forever.

调整不当的控制回路可能会超调、超调和超调，甚至可能永远摇摆不定。

This behavior can be achieved through a simple control loop.

这种行为可以通过一个简单的控制回路来实现。

A negative feedback control loop has three key pieces.

负反馈控制回路具有三个关键部分。

As we’ve discussed, control loops are responsible for getting robot attributes like location to desired values.

正如我们所讨论的，控制回路负责使机器人属性（如位置）达到所需值。

Advanced robots often require many control loops running in parallel, working together, managing everything from robot balance to limb position.

先进的机器人通常需要许多并行运行的控制回路，协同工作，管理从机器人平衡到肢体位置的一切。

Imagine that our gripper is really heavy, and even when the control loop says to stop, momentum causes the gripper to overshoot the desired position.

想象一下，我们的夹具真的很重，即使控制回路说要停止，动量也会导致夹具超过所需位置。

Because we’re trying to minimize the distance between the sensed position and the desired position, this control loop is, more specifically, a negative feedback loop.

因为我们试图最小化感测位置和所需位置之间的距离，所以这个控制回路更具体地说是一个负反馈回路。