Abstract
This article presents the design and implementation of an hybrid controller for a robotic teleoperation system. The low-level control structure is designed to control both, the position of the remote manipulator as well as the interaction force. In the local station the dynamics of the human operator and together with a model of a remote site included the environment. The supervisor controller is designed using the theory of hybrid systems and an automata was used for modeling the discrete event part. The theoretical results are validated through a simulation platform of a commercial robot.
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