中文摘要：

力反馈技术在遥操作工程机器人作业领域中是一门新兴的前沿技术，进行这方面的研究具有广泛的应用前景．为此结合双向液压伺服系统的特点，通过对国内外的双向伺服控制系统分析，提出一种以主、从手之间的力偏差作为主动端控制信号，位置偏差和力偏差形成从手控制量的新型力反馈双向伺服控制系统，通过仿真实验结果表明，该算法对新型力觉双向液压伺服控制系统具有控制简单、收敛速度快、实时性好的特点，进而改善了系统的动态性能，具有较强的鲁棒性、自适应性和快速性．

英文摘要：

The force feedback technology is a new kind of tele-operated robot, and it is of broad practical foreground to study in this aspect. In A novel force feedback bilateral servo system is presented through studying and analyzing traditional force feedbck control systems in this field, which regards the difference between the master＇ s manipulative force and the master＇ s resistance as command signal, simultaneity, the difference between the slave＇ s displacement and the master＇ s displacement is fed back for driving movement of the slave. The arithmetic takes on control briefness, constringency rate rapidness, real-time well, and improves dynamic characteristic of system.