Master CPU and slave CPU are used to control information transmission together. Slave CPU takes charge of reception and sending, so that master CPU can assign few resources for communication task.
主、从cpu协调控制信息传输，由从CPU负责串口的接收和发送，使主cpu的通讯任务占用很小的系统资源，并使用CPLD技术及高速串口集成芯片。
In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（VF）方法，研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制的综合控制策略。
In this method, the virtual fixtures(VF) is used to assist task planning at the operator′s side and the impedance control is used, which is robust against the model errors at the slave robot side.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（VF）方法，研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制的综合控制策略。
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