Current research on human-robot collaboration (HRC) in dual arm robot systems focuses on enhancing precision and automation, often relying on complex robotic kinematics, physical algorithms, vision sensors, and artificial intelligence assistance. However, limited attention is given to the role of human operators when they collaborate with robots. This paper introduces a novel Augmented Reality (AR)-based Dual Arm Robot Control System (DARCS) that emphasises the value of collaboration. DARCS reimagines the dual arm robot as two distinct but interconnected robotic workspaces. Using AR technology, digital twins of these workspaces are created, allowing users to intuitively configure and control robotic arms through a series of structured AR user interfaces (UIs). This enables two arms to operate in tandem to complete complex tasks. In collaboration with DMaF Laboratory at The University of Sydney, DARCS was demonstrated in a co-drawing scenario. The system’s innovative collaborative flow allows users with little robotic arm experience to interact with dual arm robots effectively. DARCS also supports dual arm setups with different robot models or even different brands, reducing the complexity of system configuration. The design method of DARCS focuses on optimising interaction behaviours in HRC, allowing for rapid iterations during early development stages.