The mandate for the 26,000-strong force was watered down to appease critics and it will only be able to protect civilians deemed to be under threat.
The new UN-AU mission head welcomed the move but urged a political solution "as there needs to be a peace to keep".
The warring factions in the four-year conflict are due to meet on Friday.
Since rebel groups rose up against the
'Without prejudice'
"We very much welcome the UN troops in
Abu Elgasim, field commander for a different
The first peacekeeping troops are due to begin arriving in October.
"We will be committed, we will be faithful and honest to our obligations,"
However, he also warned that the resolution was not a "blank cheque" for the peacekeepers.
The resolution says they can use force "to protect civilians without prejudice to the responsibility of the government of
Head of the UN-AU hybrid mission Rodolphe Adada told the BBC the force would be one of "two legs for finding peace in
"I'm sure it will be one of the main tools for forwarding peace in
"This is why the political meeting is of the essence."
The mission, to be known as Unamid - the United Nations African Union Mission in Darfur - is expected to cost up to $2bn a year and will be world's largest peacekeeping force.
Mr Adada said the force will mainly be drawn from African countries, a move also hoped to appease
But the resolution says the UN has overall command of the force.
'Disappointed'
UN Secretary General Ban Ki-moon described the mission as "historic and unprecedented".
Humanitarian workers hope the new force will provide security for them to be deliver aid to civilians.
"It is very clear that the humanitarian situation in
Jonathan Pearce, from the
But Democrat Russ Feingold, who chairs the US Senate foreign relations sub-committee on
The new force will not have the right to disarm the militias and it does not have the powers to pursue and arrest suspected war criminals indicted by the International Criminal Court.
Furthermore, the resolution does not threaten sanctions against
The unanimous vote came after negotiations secured the support of
The joint African Union-UN meeting in
One of the numerous rebel groups signed a peace deal last year but the violence has continued.
PHOTO CAPTION
African Union soldiers in