Telerobotic operation of conventional robot manipulators

A telerobotic control concept and its implementation using a PUMA-560 robot manipulator are reported. The concept couples human supervisory commands with computer reasoning. The control system is responsive and accomplishes an operator´s commands while providing obstacle avoidance and controlled interactions with the environment where desired. This provides a system which not only assists the operator in accomplishing tasks but modifies inappropriate operator commands which can result in safety hazards and/or equipment damage