Implementation method of force telepresence of telerobotics based on integration of virtual strength and real strength

The invention relates to an implementation method of force telepresence of a telerobotics based on integration of virtual strength and real strength, which comprises the following steps: a master side position signal xm is produced by an operator through a master robot, the master side position signal xm enters into a communication time delay environment, a slave side position signal xs is formed after time delay, and the slave side position signal xs further enters into a slave robot as the input of the slave robot. The slave robot outputs an environmental position signal xe to be acted on the environment, the environment simultaneously provides environmental reacting force fe for the slave robot, the slave robot outputs a slave side force signal fs according to the environmental reacting force fe, a master side force signal fm is outputted after entering the communication time delay link for delay, the master side force signal fm further enters into a low-pass filter, and a low-frequency force signal fmwL is outputted. The other line of the master side position signal xm enters into a virtual environment, a model of the virtual environment outputs a virtual force signal fv, the virtual force signal fv further enters into a high-pass filter for processing, and the high-pass filter outputs a high-frequency force signal fv omega H. The high-frequency force signal fv omega H and the low-frequency force signal fmwL are superimposed, a new master side force signal fmn is formed and the signal is acted on the master robot.