Teleoperation of machines having at least one actuated mechanism and one machine controller comprising a program code including instructions for transferring control of the machine from said controller to a remote control station

A system for teleoperation of a machine having at least one actuated mechanism and a predetermined number of degrees of freedom, said system comprising:

• two or more control stations each remotely located from a location of said machine, each of said two or more control stations configured to control said machine to perform a predetermined function, said machine controllable at a given time from only one of said two or more control stations;
• a two way real-time communication link between said machine and said remotely located control station;
• and
• a controller at said machine location, said controller having therein program code configured to operate said machine, said program code includes a teleoperation instruction which when executed, transfers control of said machine from said controller to one of said two control stations, wherein during operation of said machine by execution of said program code, the transfer of control of said machine from said controller to one of said control stations occurs when the executed program code reaches said teleoperation instruction, the control being transferred back to said controller when said teleoperation instruction has been fully executed,
• wherein each of said two or more control stations has a unique identifier that is known to said controller and that one of said two or more control stations whose unique identifier is acknowledged by said controller becomes that one of said two or more control stations that can control said machine, and
• wherein said machine is a robot.

A system for teleoperation of a machine having at least one actuated mechanism and a predetermined number of degrees of freedom, said system comprising:

• a control station remotely located from a location of said machine, said machine controlled from said control station to perform a predetermined function;
• a two way real-time communication link between said machine and said remotely located control station;
• and
• a controller at said machine location, said controller having therein program code configured to operate said machine, said program code having therein a task frame associated with said predetermined function performed by said machine, said task frame divided into a first set controlled by said controller and a second set controlled from said control station using said two way real-time communication link, said program code includes a teleoperation instruction which when executed, transfers control of said machine from said controller to said control station, wherein the transfer of control of said machine from said controller to said control station occurs when said teleoperation instruction is reached in the program controlling said machine, the control being transferred back to said controller when said teleoperation instruction has been fully executed,
• wherein control of said machine to perform said predetermined function on said workpiece is switched between said controller and said control station based on predetermined criteria, and
• wherein said machine is a robot.