Controlling a telerobot

A method for controlling a telerobot using an input device that includes a movable control means, the method comprising:

• repeating multiple times:
• detecting with a sensor an adjustment of the control means and an external load acting on the telerobot,
• determining a target adjustment of a telerobot reference fixed to the robot based on the detected adjustment of the control means,
• detecting an actual adjustment of the telerobot reference, and
• controlling drives of the telerobot based on a difference between the actual adjustment and the target adjustment;
• implementing a first operating mode of the telerobot in response to the detected load being in a first range;
• implementing a second operating mode of the telerobot in response to the detected load being in a second range;
• wherein the drives of the telerobot are controlled in the first operating mode such that drive loads of the drives increase at a first rate with an increase in a one-dimensional or multi-dimensional first component of the difference between the actual adjustment and the target adjustment in order to reduce the one-dimensional or multi-dimensional first component;
• wherein the drives of the telerobot are controlled in the second operating mode such that drive loads of the drives increase at a second rate with the increase in the one-dimensional or multi-dimensional first component of the difference between the actual adjustment and the target adjustment in order to reduce the one-dimensional or multi-dimensional first component, and the second rate is less than the first rate;
• and
• controlling a hysteresis between a transition from the first operating mode to the second operating mode and a transition from the second operating mode to the first operating mode.

A system for controlling a telerobot by means of an input device which comprises a movable control means, the system comprising:

• means for determining a target adjustment of a telerobot reference fixed to the robot based on a detected adjustment of the control means;
• and
• control means for controlling drives of the telerobot based on a difference between a detected actual adjustment of the reference fixed to the robot and the determined target adjustment, the control means comprising:
• means for implementing a first operating mode in response to a detected external load acting on the telerobot being in a first range, and
• means for implementing a second operating mode in response to the detected external load being in a second range;
• wherein the means for implementing the first operating mode comprises means for controlling the drives of the telerobot in the first operating mode such that drive loads of the drives increase at a first rate with an increase in a one-dimensional or multi-dimensional first component of the difference between the actual adjustment and the target adjustment in order to reduce the first component;
• and
• wherein the means for implementing the second operating mode comprises means for controlling the drives of the telerobot in the second operating mode such that drive loads of the drives increase at a second rate with the increase in the first component in order to reduce the first component, and the second rate is less than the first rate;
• wherein the control means is configured for controlling a hysteresis between a transition from the first operating mode to the second operating mode and a transition from the second operating mode to the first operating mode.