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介绍了一个自行研制的主／从式遥控作业机械手的两级计算机控制系统，上位机采集主动操作手和控制面板信息，下位机实现从动操作手的液压伺服控制，两者之间采用半双工串行通讯，其距离可达２ｋｍ。与国外同类系统的区别在于，本系统采用的是ＳＴＤ工业总线，软件上还增加了示教／再现与空间直线、圆弧的插值功能。海上试验表明，该系统有良好的操作性能与完善的作业功能。
A two-level computer control system of master / slave remote manipulator developed by ourselves is introduced. The upper computer collects the information of active manipulator and control panel, and the slave computer realizes the hydraulic servo control of slave manipulator. The half-double Workers serial communication, the distance up to 2km. The difference with other foreign systems is that the system uses the STD industrial bus, the software also adds a teaching / reproduction and spatial linear interpolation of the arc. Offshore tests show that the system has good operating performance and perfect job function.