重点研究了融合双向力反馈、传感器局部自主控制、图形预显示和遥编程的无时延感遥操作技术；
The key technologies including two-way force feedback, local sensor intelligent control information, teleprogramming and predictive displays without time delay have been researched emphatically.
为双向遥操作系统的控制技术提供了理论基础。
This paper provides a basic study on the control technique of bilateral teleoperating system.
遥操作机器人触觉与视觉图像的配准是这两种图像信息融合的关键技术。
Registration between tactile and visual image for remote-control robot is a critical technology in these two images fusion.
本文介绍遥操作及虚拟现实技术的重要组成部分之一：力反馈控制器。
One of the most important parts in the teleoperation and virtual reality technology is introduced here, the force feedback controller.
虚拟建模技术是克服遥操作时延问题的有力手段，但是这种方式依赖于虚拟模型建立的精度。
Although this method can solve the time delay problem, it depends on the precision of the virtual model.
虚拟环境的建模是基于虚拟现实的遥操作机器人系统的关键技术。
Modeling technology of virtual environment is the key of VR-based telerobotic system.
基于对主从机器人控制系统的动力学分析，研究了借助力觉临场感技术实现主从医疗机器人遥操作的控制理论和设计方法。
It focuses on the control theory and design method of master-slave medical robot system, that can implement precise teleoperation by means of force telepresence technology.
预测显示是克服基于网络的遥操作系统中网络传输时延的不确定性关键技术之一。
To solve the uncertainty of time-delay existing in Internet tele-robotics, the approach of predictive display based on virtual reality is one of the selected ways.
具有视觉临场感的机器人遥操作虚拟环境构建是虚拟现实技术在智能 机器人领域的重要应用。
The scene building of having vision telepresence robot teleoperation virtual environment is virtual reality technical important application in intelligent robot field.
本文的主要研究内容分为三个部分：大时延遥操作系统框架研究、遥编程技术研究，以及快速碰撞检测技术研究。
The main contents in this paper include three aspects:framework for T3D system, teleprogramming, and accelerated collision detection methods.
最后，利用先进的机器人应用程序框架技术，设计并开发了组件化的遥操作单元，为用户层面的控制接口提供了界面友好、功能强大、人机交互式的解决方案。
Finally, utilizing advanced application framework for robotics software, a unit for remote control is developed and componentized to provide friendly, powerful and interactive interface for users.
最后，利用先进的机器人应用程序框架技术，设计并开发了组件化的遥操作单元，为用户层面的控制接口提供了界面友好、功能强大、人机交互式的解决方案。
Finally, utilizing advanced application framework for robotics software, a unit for remote control is developed and componentized to provide friendly, powerful and interactive interface for users.
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