给出了一种遥操作系统实现方案。在所建立的遥操作系统上实现了具有双向力反应的主从装配操作和基于环境模型的自主搭积木操作。研究了大时延条件下的仿真预测遥操作方法和局部自主控制方法、从动机器人由自由运动到受限运动的稳定过渡问题和机器人任务规划及路径规划问题。 A remote operation system is given. In the established teleoperation system, a master-slave assembly operation with bi-directional force reaction and an independent building block operation based on environmental model are realized. The simulation forecasting teleoperation method and local autonomous control method under large time delay are studied. The stable transition of slave robot from free motion to restricted motion and robot mission planning and path planning are studied.