其次，分析了影响主从机器人末端执行器的误差的因素，比较了各种机器人误差建模的方法。

Secondly, the factors that influence the errors of the end-effector of the master-slave robot are analyzed, various error modeling methods of robot are compared.

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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.

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然后对主从式远程操作机器人实验平台的硬件结构和软件设计做了总体的介绍。

Then the hardware structure and the software design of the master-slave teleoperation robot system are introduced.

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