This paper presents a generic design and implementation of a telerobotic system application for the remote welding of unstructured and hazardous environment. The objective is to establish a remote welding telerobotic system that is flexibility to carry out welding seam tracing and welding remotely. According to the difference of welding task and environment, this paper presents human machine cooperative control strategies that integrate sensor and model-based computer assistance. The human operator decision and control commands participate into every control level of the teleoperation system. The specific control modes have been presented to integrate into human machine interface (HMI).