In recent years , the master-slave robot system is widely used in many different fields , such as medical treatment and deep-sea field.The control strategy of master-slave robot system is studied on the basis of summari-zing the existing research results .Incremental position control strategy is used to establish the master-slave work-space mapping conveniently , position feedback is adopted to improve control precision of the system , the problem of motion ratio change is solved and the position control strategy is proved through the built system .The results show the accuracy and instantaneity of the position strategy .Position error is introduced into force feedback strat-egy, the stability of the system is analyzed and the effectiveness of the force control strategy is tested through MATLAB/Simulink and experiment .%近年来主从式机器人系统被广泛应用在医疗、深海等非结构性环境。在现有研究成果的基础上，研究了主从式机器人系统的控制策略。采用增量式位置控制，易于建立主端与从端的工作空间映射，并增加位置反馈提高系统的控制精度；解决了主从运动比例变化的问题；并通过搭建的主从机器人系统对位置控制策略进行验证，结果表明了系统位置控制策略的准确性和实时性。将主从位置误差引入系统的力反馈控制策略，分析系统的稳定性，并通过MATLAB/Simulink对力反馈策略进行仿真及实验验证，仿真与实验结果验证了所建立控制策略的有效性。
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