力觉临场感遥操作机器人系统的通信通道中存在通信时延,而且在机器人和环境建模中,系统参数存在不确定性,以致可能造成系统不稳定和操作性能降低.针对通信时延和系统不确定性,建立系统的状态方程,利用鲁棒控制理论,提出用力、位置和速度反馈的控制方法.分析与实验表明,用该方法设计的控制器能使系统鲁棒渐近稳定,而且能使系统完全透明. There is communication delay in the communication channel of teleoperation robotic system, and the system parameters are uncertain in the modeling of robot and environment, which may result in system instability and poor operation performance.For communication delay and system Uncertainties, the establishment of the system of state equations, the use of robust control theory, put forward the force, position and speed feedback control methods.Experiments and experiments show that the controller designed by this method can make the system robust asymptotically stable, and can Make the system completely transparent.