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由于对主从机器人系统中主从手的动力学控制可使操作者获得对操作物体的力觉临场感，增强其执行复杂遥操作任务的能力．基于该系统在笛卡尔空间的动力学模型，阐述了该系统的控制结构和控制策略．通过分析系统的动力学特性，表明了在不同控制策略下，主从手的动力学特性对操作者力感觉的影响．指出了力反射伺服型系统可以较有效地抑制系统内的动力学干扰
Because of the master-slave kinematic control of master-slave robotic systems, the operator can gain a sense of force on the operating object and enhance his ability to perform complex teleoperation tasks. Based on the dynamic model of the system in Cartesian space, the control structure and control strategy of the system are described. By analyzing the dynamic characteristics of the system, the influence of the master-slave dynamics on the force perception of the operator under different control strategies is demonstrated. It is pointed out that the force reflection servo system can restrain the dynamic interference in the system more effectively