：针对遥操作机器人系统通信通道中存在时延以及系统模型存在不确定性而可能造成系统不稳定和操作性能降低的问

题，采用了H 混合灵敏度鲁棒控制的方法设计主从机械手的控制器。首先概括的介绍了系统的构成及动力学模型，然后

针对控制器设计中加权函数选择较困难的问题，研究了一种较实用的加权函数选择方法，并采用MATLAB鲁棒控制工具箱

进行了控制器设计，最后给出了系统在随机时延环境下Simulink的仿真结果。结果表明系统在受扰和通信信道存在随机时

延的情况下，仍具有良好的鲁棒稳定性和跟踪性能。-: For the telerobot system communication channel delay and system model uncertainty and may cause system instability and reduced operating performance, the use of the H mixed sensitivity robust control design master-slave robot controller. First general introduction to the composition and dynamics of the system model, and then for the more difficult issues of the weighting function to select the controller design, study a more practical method of weighting function selection, and control using MATLAB Robust Control Toolbox design, and finally given a random delay environment Simulink simulation results. The results show that the system still has good robust stability and tracking performance in the case of interference and communication channel there is a random delay.