Abstract
A supervisory controller for a robotic teleoperation system with a long time delay. The proposed low-level control structure was designed to control the position and the interaction force between the remote manipulator and the environment. Both the human operator model and the hand controller are considered in the local station. A 2 d.o.f. direct drive robot manipulator is modelled in the remote station. The supervisory control is designed using the theory of hybrid systems so that an additional system is incorporated, which evolves according to the occurrence of uncontrolled events like communication intenuptions, etc. Simulations have been carried out to show the system's performance.
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