Unilateral Telemanipulation System For Operator-Centered Training And Control In Industrial Robotics

Teleoperation systems extend human capabilities in complex or unsafe environments. This paper presents a unilateral telemanipulation framework that combines direct and rate control modes for intuitive human–robot interaction. Direct control provides accurate mapping of haptic device motion to robot motion, while rate control enables efficient large-scale movements. Haptic feedback signals the current control mode and the velocity magnitude, improving transparency and usability. A dedicated Graphical User–Machine Interface (GUMI) offers real-time visualization of control states, stylus position, and synchronized video streams. The framework was implemented both in simulation (MuJoCo) and on a Franka Emika Panda manipulator, and validated on a wiring task with deformable linear objects. Results confirm that users can switch seamlessly between modes, leveraging precision in direct control and efficiency in rate control. The system demonstrates robustness, flexibility, and potential for industrial applications, especially in training and programming by demonstration.