Traditionally, teleoperation has been an expensive and lengthy process.  This thesis shows that by incorporating off-the-shelf technology into a modular design, teleoperation can be developed rapidly and inexpensively.  Within six months and a hardware cost of $20k, a group of Virginia Tech students and faculty converted a Case CX-160 excavator to teleoperated control.  With full wireless functionality of the excavator's six degrees-of-freedom, ignition, and remote cameras at 3000 ft., the teleoperated design meets or exceeds customer demands.  For over a year, the teleoperated excavator has demonstrated effectiveness, robustness, and durability in multiple unexploded ordnance (UXO) site remediation projects.