This paper describes a novel automatic solution for toolchanging operations using dexterous teleoperated robots in a nuclear glovebox. This solution can identify and locate tools in the nuclear glovebox by visually tracking augmented reality (AR) tags online at a low computational cost. The solution is designed in a modular manner taking into account different practical constraints, so it can be easily adapted to enormous existing nuclear gloveboxes. In practice, the proposed solution is introduced to an existing robotic system including two teleoperated lightweight manipulators in a nuclear glovebox. The experimental tests have demonstrated the effectiveness of the automated tool-changing solution without any knowledge of the mock-up environment a priori.
