Robot intelligence that the robot senses unpredictably changing conditions and plans and practices appropriate actions according to these changing conditions is required for the robot to be operated under the unstructured environment that cannot be modeled easily. But it is true that the survey on this robot intelligence for a fully autonomous robot is even in R&D stage by now. Thus the survey and access on the teleoperation that an operator controls a slave robot intelligently at a safe and remote location and the slave robot is operated under unsafe environment is in process along with those on the robot intelligence. The control modes used in this teleoperation are position control mode and rate control mode. This paper presents the problems of the conventional control modes through simulation, proposes the intelligent mixed control mode that converts the operation mode intelligently by grasping the operator's intention, and demonstrates the effectiveness of the proposed intelligent mixed control mode to several performance indices through simulation and actual experiment.
