Secondly, the factors that influence the errors of the end-effector of the master-slaverobot 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。
2
There are uncertainties in the model of a teleoperation robot system and communication time delays in the communication channels between the master and slaverobot.
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 slaverobot side.