When Canadarm2 was first launched to ISS onboard Shuttle Endeavour on 19 April 2001 and installed three days later by Canadian astronaut Chris Hadfield and NASA astronaut Scott Parazynski, it was designed to be controlled and operated by astronauts with a primary goal of assembling of the orbiting outpost.
Fast forward 19 years to today, robotic control is now managed mostly by teams via ground commands… with the added goal of testing autonomous operations to support the needs of future spaceflight and the lunar Gateway with Canadarm3.