Traditional robot teaching methods are cumbersome, tedious and difficult to scale for high-
mix low-volume applications. The tape masking, a common process for surface protection
before plasma spraying, spray painting and shot peening, is one of those domains where
robotic automation lacks flexibility and reliability due to the complexity in task. Fortunately, it
is still within the grasps of human-robot collaborative systems. This work presents a
telemanipulation-based robot teaching framework that is able to let the robot manipulator …