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从建立力觉临场感系统的时延动力学方程出发，利用差分微分方程组对力觉临场感系统的时延稳定性进行分析．采用李亚普诺夫函数进行讨论，根据从机械手的运动状态为自由运动状态及与环境作用状态两种情况分别进行讨论，确定了时延界限，实验结果验证了时延界限的正确性．
Based on the delay dynamics equations of force sensing telepresence system, the delay stability of force telepresence system is analyzed by using differential equation. The Lyapunov function is used to discuss. The two states of free movement and the interaction with the environment are respectively discussed. The delay limits are determined. The experimental results verify the correctness of the delay limits.