Teleoperation of a Dual-Arm Robot Using a Cartesian Coordinate System Interface

Abstract

Robotic arms have been utilized for automating various tasks, but remote operation is required in situations where human judgment is necessary. Additionally, there is a growing demand for dual-arm robots as they can handle a wider range of operations and scenarios compared to single-arm ones. However, controlling two robotic arms simultaneously via remote operation is challenging due to their high degrees of freedom and complex structures. Therefore, an interface with high degrees of freedom and intuitive operation is needed. The aim of this research is to develop a system that enables simultaneous remote operation of two robotic arms using a Cartesian coordinate system interface, thereby achieving intuitive control.