The mathematical model of refrigeration cycle system and the object model of the temperature control for the operator cabin are put forward in the paper.
并最终建立了制冷循环系统的数学模型和驾驶室温度控制的对象模型。
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 slave robot side.
描述了机器人辅助腹腔介入治疗中的手术规划模型和虚拟夹具（VF）方法，研究了引导型和障碍型两类虚拟夹具的空间运动约束生成方法以及基于导纳控制的综合控制策略。
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