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This work presents a novel Haptic Telerobot Control System architecture for Interactive Use. This involves different topics of research, like UDP/IP data transmission over a wireless local area network and the use of haptic devices in C++ and Java. A method for permanently solving inverse kinematics with applicable intermediary results is described. The system is integrated into a given service robot environment using a six-degree-of-freedom manipulator. Aspects of transparency and stability are analysed with experimental results. Software design issues of this distributed system with a client server structure are discussed.