中文摘要：

建立了主／从异构式机器人力反馈遥操作控制系统。主操作系统采用2个2-DOF操作手，分别采用伺服阀控制液压马达获得2个解耦的旋转自由度。用力信息对伺服阀进行控制以驱动主操作手运动，解决主手操纵力不能直接驱动主操作手液压马达的问题。从机器人为4-DOF串联关节型四自由度机器人，采用比例方向阀控制。分别采用力反射伺服型和力对称型双向伺服控制策略，对主／从机器人系统进行遥操作力反馈双向伺服控制实验研究。验证了本设计的主操作手结构的合理性，力对称型双向伺服控制策略具有较好的控制性能。

英文摘要：

The master-slave force feedback control system of tele-operation was set up. The master manipulator system was composed of two 2 - DOE manipulators, and each one adopted two servo valves to control two hydraulic servomotors in order to obtain two rotational decoupling degrees. The master manipulator force information was used to control the servo valve so that the master manipulator could be driven, thus the problem that the master operation force could not directly drive the master manipulator hydraulic motor has been solved. The slave manipulator is 4 -DOE system that the original hydraulic shovel bucket was replaced by a new single degree manipulator claw, which set up a series joint 4 - DOF manipulator, and hydraulic proportional direction valve control method was applied to the slave manipulator. Force reflection servo and force symmetry bilateral servo control strategies were individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. The master manipulator＇s structure is reasonable, and the force symmetry bilateral servo control method has better control features.