Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts

Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating parts. The system visualizes feasible grasp poses and disassembly directions in a virtual environment, both derived from the object's geometry, to address occlusions and structural complexity. To prevent excessive position tracking under load when following the affordance, we integrate a hybrid controller that combines position and impedance control into the teleoperated disassembly arm. Real-world experiments validate the effectiveness of the proposed system, showing improved task success rates and reduced object pose deviation.