A robot teleprogramming architecture

Robot teleprogramming systems allows to perform teleoperation tasks when significant delay appears in the communication. This delay is very common in spatial or submarine operations, or when a non dedicated communication line, such as Internet, is used. A new robot teleprogramming architecture is proposed in this paper to implement a teleprogramming system that is able to cope with communications delays reducing the operator intervention to solve unexpected errors. The architecture concept is described and the results of virtual and real experiments are presented.