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给出一个完整的双向遥操作系统的模型。在建立了该系统的动力学模型的基础上，讨论了以阻抗矩阵表示的二端口网络结构，稚导了相应的网络特性参数。为双向遥操作系统的控制技术提供了理论基础。
Give a complete model of two-way teleoperation system. Based on the dynamic model of the system, the two-port network structure represented by the impedance matrix is discussed and the corresponding network characteristic parameters are induced. It provided the theoretical basis for the control technology of bidirectional teleoperation system.