In order to solve the problem that the perception of the dual-manipulator cooperative robot teleoperation system is weak in the complex scene operation

a human-robot interaction(HRI)teleoperation system using augmented reality(AR)and digital twin(DT) technology is proposed.The force feedback data glove is introduced to enhance kinesthetic feedback and realize the fine teleoperation control of the dual-manipulator cooperative robot.The hand-eye camera and Instant-NGP algorithm are used for three-dimensional reconstruction of the robot operation target

and the AR three-dimensional registration of the reconstructed model and DT model of robot is realized based on mark positioning method

so as to achieve visual enhancement.At the same time

according to whether the human and the robot are in the same scene space

two HRI modes are developed

including the remote operation mode and the short-distance operation mode

to realize the closed-loop control between the virtual robot and the real robot.The experimental results show that the system can handle the HRI teleoperation task of dual-manipulator cooperative robot safely

efficiently

and stably.