遥操作机器人系统的通信通道中存在通信时延，而且机器人模型存在不确定性，以致可能造成系统不稳定和操作性能降低。
There are uncertainties in the model of a teleoperation robot system and communication time delays in the communication channels between the master and slave robot.
遥操作机器人由于可以代替人在极限环境下进行作业而受到越来越多的重视和研究，通用型主手对于提高遥操作机器人的操作性能和工作效率具有十分重要的意义。
Telerobot has been given more and more attention and research because it can replace human in dangerous environment. Universal master manipulator can improve the performance and work efficiency.
在大时延和有限带宽的条件下，如何保证系统的稳定性和良好的操作性能是当前空间机器人遥操作研究中的瓶颈问题。
In the presence of large time delay and finite bandwidth, how to guarantee the stability and good performance is the bottleneck in the current research of space robot teleoperation.
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