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.

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。

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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。

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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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"Part of having your journalists on these platforms is giving them the freedom to be a normal human being, not a robot, a PR machine or a slave to the wire, " he blogged.

BBC: Associated Press reporters told off for tweeting