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.
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.
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