通过对力觉临场感机器人系统中环境的动力学研究 ,提出了分段描述环境动力学特征的观点 ,并进一步讨论了不同工作区中环境的动力学模型 ,分析了不同作业方式下 ,动力学的变化情况。阐述了在该系统中 ,环境的等效阻抗具有非线性、时变性 ,对系统的稳定性分析、控制算法和虚拟环境技术中的虚拟力觉反馈的准确再现具有重要意义。 By studying the dynamics of the environment in the telerobotic robot system, this paper proposes the idea of ​​subdividing the environmental dynamic characteristics and further discusses the dynamic model of the environment in different working areas. It is also analyzed that under different operating modes, the dynamics Changes in the situation. In this system, the equivalent impedance of the environment is nonlinear and time-varying, and it is of great significance to analyze the stability of the system, control algorithm and the accurate representation of the virtual force feedback in the virtual environment.