A method for controlling a robot telemanipulation

The invention relates to a method for controlling a telemanipulation robot are recorded optically in the movements of an input device having at least three active marker. Based on these movements of Telemanipulation robot is controlled. It is carried out a local recursive marker identification by a tracking of the history of the movement of the identifiable marker is performed. Furthermore, a global non-recursive marker identification is carried out, a marker is activated in such a way that it can be distinguished in a single image from all other markers. Alternatively or additionally, a marker can be identified by a unique activation pattern in several successive images global recursively. It is carried out a global recursive identification when a marker has been identified locally recursively in at least two images and in at least one of these images is a global non-recursive and / or recursively identified globally by a unique activation pattern in multiple images. This marker applies to all images in which he was locally identified recursively identified as global recursively. According to the invention the activation of the marker is carried out dynamically in each image, is in fact decided by dynamically depending on the performed movements of the input device which markers are activated in the manner in which the current picture.