IRAS is a robot control system designed for space robot application with operator supervisory. The main goal of IRAS is the development of a general robot control architecture including a prototype implementation for task oriented A&R operations. The system supports interactive task level programming and adjustment of local robot action sequences and online tuning of command parameters. A functional, three level hierarchical architecture is proposed to cover the objectives. The general control concept with horizontal and vertical information flow allows forward control, nominal feedback and non-nominal feedback. A testbed has been implemented at MBB/ERNO to demonstrate the capabilities of the system. The IRAS-system is tested in a testbed environment consisting of an industrial robot performing manipulations in a MTFF (COLUMBUS). Several exceptions have been studied and analyzed to improve the performance of the IRAS-system. The project is supported by the European Space Agency ESA/ESTEC.