Human-robot interaction for robotic manipulator programming in Mixed Reality

被引：0
作者：
Ostanin, Mikhail [1 ]
Mikhel, Stanislav [1 ]
Evlampiev, Alexey [1 ]
Skvortsova, Valeria [1 ]
Klimchik, Alexandr [1 ]
机构：
[1] Innopolis Univ, Ctr Technol Robot & Mechatron Components, Innopolis, Russia
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年
基金：
俄罗斯科学基金会;
关键词：
D O I：
10.1109/icra40945.2020.9196965
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real robot location by the point cloud analysis, to use virtual markers and menus for the task creation, to generate a trajectory for execution in the simulator or on the real manipulator. It also provides the possibility of scaling virtual and real worlds for more accurate planning. The proposed framework has been tested on pick-and-place and contact operations execution by UR10e and KUKA iiwa robots.
引用
收藏
页码：2805 / 2811
页数：7
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