This invention relates to the field of loading control technology and discloses a method and
system for disturbance-free switching of loading control. The method involves collecting motion state data of the loading
system, including displacement and force deviations; calculating a set of switching decision indices based on the motion state data to determine whether the loading
system meets the switching conditions; the set of switching decision indices includes a first
stability index for displacement deviation and a second
stability index for force deviation; setting a gradual switching operation strategy based on displacement and force deviations; and monitoring the smoothness index of the switching transition process, which includes the amplitude of
control signal fluctuations and the continuity of the loading system's response. When the smoothness index meets the baseline disturbance-free condition, the switching is confirmed to be complete. This achieves
intelligent decision-making based on state assessment, gradual smooth transition, and self-learning optimization of compensation quantities, ensuring disturbance-free switching between displacement feedback and force
feedback control and avoiding impacts or disturbances to the loading system.