遥操作过程中存在的时间延迟是恶化系统性能，影响系统稳定的根本原因.本文针对通

信环节存在较大时延的多自由度非线性时变遥操作机器人系统，提出了一种改进的非线性双向自

适应力准置混合控制算法:主端自适应控制器通过跟踪从端环境的作用力来提高系统的透明度

从端自适应拉制器在跟踪主手速度和位移的同时，通过本地力反馈的柔顺控制能力保证系统在任

意时延下都处于稳定状态.该算法对操作机器人系统中存在的时延小范围变化、模型参数不确定

及从端环境未知等情况都有较好的普棒性.文章中的稳定性证明及对比性仿真研究验证T算法的

有效性-Teleoperation process time delay system is stable and the root cause of the deterioration of system performance, the impact telerobot system. Changed the MDOF when this paper, there is a big delay to the communication link, proposed an improved non- linear quasi-two-way adaptive force set mixed control algorithms to: primary end adaptive controller by tracking the force from the end of the environment to improve the transparency of the system　adaptive drawn in tracking the velocity and displacement of the main hand from the end, by local force feedback supple control capabilities to ensure the system is in a stable state in any delay of the algorithm changes, small-scale operation robot system in the presence of delay and uncertainty of the model parameters and have a better end unknown environment Pu rods. proof of the stability of the article and the comparative simulation study to verify the effectiveness of the algorithm T