Method and system for controlling a telerobotic robot

The method according to any of the preceding claims, characterized in that the restoring force component is a force of a virtual compression spring, in particular a virtual compression spring which is only tensioned by a movement of the telerobotic robot away from the border in the direction of the impermissible region and/or an actuation of the actuator for commanding a movement of the telerobotic robot away from the border in the direction of the impermissible region and/or the spring force of which depends on a current and/or previous position of the actuator and/or on a current and/or previous pose of the telerobotic robot and/or on a specified spring stiffness of the virtual compression spring and/or on a specified scaling between adjustments of the actuator and movements of the telerobotic robot.

The method according to any of the preceding claims, characterized in that commanding a movement of the telerobotic robot starting from the border in the direction of the impermissible region is suppressed during an actuation of the actuator for commanding this movement of the telerobotic robot.

The method according to any of the preceding claims, characterized in that the virtual border is specified as a virtual wall in a working space of the telerobotic robot or as a virtual stop of at least one joint of the telerobotic robot.

The method according to any of the preceding claims, characterized in that the target force comprises a force feedback component which depends on an external force on the telerobotic robot, and in particular emulates said external force, if necessary in a scaled manner.

The method according to any of the preceding claims, characterized in that the target force comprises a damping component which depends on an adjustment speed of the actuator.