  We address the problem of teleoperating an industrial robot manipulator via a
commercially available Virtual Reality (VR) interface. Previous works on VR
teleoperation for robot manipulators focus primarily on collaborative or
research robot platforms (whose dynamics and constraints differ from industrial
robot arms), or only address tasks where the robot's dynamics are not as
important (e.g: pick and place tasks). We investigate the usage of commercially
available VR interfaces for effectively teleoeprating industrial robot
manipulators in a variety of contact-rich manipulation tasks. We find that
applying standard practices for VR control of robot arms is challenging for
industrial platforms because torque and velocity control is not exposed, and
position control is mediated through a black-box controller. To mitigate these
problems, we propose a simplified filtering approach to process command signals
to enable operators to effectively teleoperate industrial robot arms with VR
interfaces in dexterous manipulation tasks. We hope our findings will help
robot practitioners implement and setup effective VR teleoperation interfaces
for robot manipulators. The proposed method is demonstrated on a variety of
contact-rich manipulation tasks which can also involve very precise movement of
the robot during execution (videos can be found at
https://www.youtube.com/watch?v=OhkCB9mOaBc)
