Immersive Bimanual Teleoperation for Heterogeneous Dual-Arm Precision Assembly

As robotic systems are used for more complex tasks, the need for robotic collaboration systems and robot teleoperation is beginning to emerge in the industries. However, most of the existing robot systems can only control the robot to move along a predetermined trajectory or only one robot with a physical connection to the control system (teach pendant, etc) can be controlled at the same time. It is difficult to realize the cooperation and teleoperation of multiple robots. In this study, a dual-manipulator cooperative teleoperation system based on virtual reality technology is proposed to realize complex assembly tasks. This system enables the operator to remotely and synchronously operate two different manipulators to collaborate and improve operational accuracy in complex tasks. The experimental results show that the operation precision of the two manipulators reaches 94% and 96%, respectively, and the collaborative operation and teleoperation functions of the manipulators are successfully realized. The synergy between VR immersion and dual-arm control not only improves task efficiency but also mitigates human cognitive load, offering a scalable solution for applications requiring high dexterity in hazardous or inaccessible environments.