In general, robot teleoperation system is conducted through either joysticks or game pads. Due to the requirement for the robot to function in several degrees of freedom, the system is usually complex and the users must be well trained to operate them (e.g., tilting the joystick to the left for rotating the robot to the right). To address this challenge, a full-dimensional infrared-matrix-based immersive robot teleoperation platform is proposed for users to program and control robots. The developed platform enables humans to manipulate specific parts of the robot directly through touching the corresponding component on the interface. The system can therefore provide intuitive operation allowing users to program and maneuver the robot with minimal training and even without robotics expertise. We describe the details of the hardware and software system implementation. In addition, we conduct two kinds of experiments for robot controlling according to user interaction in real-world human-robot collaboration contexts. Experimental results suggest that the developed platform can effectively assist humans in robot programming and operation without coding effort required.