中文摘要：

针对目前力反馈双向伺服遥操作工程机器人控制系统所存在的反馈力冲击过大及主从位移控制的随动性较差等问题，提出了在新型力反馈伺服系统中加入干扰观测器来改善从动机构的动态特性差异，从而提高从动机构的鲁棒稳定性和抗干扰能力。仿真结果表明提出的方法是有效的。

英文摘要：

The force feedback technology is a new kind of tele-operated robot, anti Its of broad practical foreground to study in this aspect. In this paper, a novel force sense control system is presented because of the impact feedback force and the poor master slave following dynamic characteristic of bilateral electro-hydraulic servo system. A novel force feedback servo system is proposed which is added to the disturbance observer to improve the driven gear and the dynamic characteristic difference, thus enhance the driven gear, the stability and the anti-jamming ability. The simulation result shows the proposed method is effective.