Interactive Industrial Robot Programming based on Mixed Reality and Full Hand Tracking

被引：4

作者：

Ostanin, Mikhail ^{[1
]}

Zaitsev, Stanislav ^{[1
]}

Sabirova, Adelia ^{[1
]}

Klimchik, Alexandr ^{[1
]}

机构：

[1] Innopolis Univ, Ctr Technol Robot & Mechatron Components, Innopolis, Russia

来源：

IFAC PAPERSONLINE | 2022年 / 55卷 / 10期

关键词：

human-robot interaction; mixed reality; industrial robots; hand tracking;

D O I：

10.1016/j.ifacol.2022.10.153

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 show a state-of-the-art approach for programming industrial robotics manipulator via mixed reality holographic interface. In mixed reality, we implement basic functionality for robot programming: setting up the base and tool frames, setting the sequence of Cartesian poses and Joint positions for robot motion, robot movements simulation. The software developed is based on Unity, ROS, and Movelt frameworks. We compared cursor-based interface (Microsoft HoloLens 1) and full hand tracking (Microsoft HoloLens 2 and Oculus Quest 2) functionalities for interactive robot programming. We tested our approach on the UR10e collaborative robot in the virtual scene and real environment. The full hand tracking human-robot interaction approach improves the setup of Cartesian and Joints robot goals in respect to cursor based interaction. Copyright (C) 2022 The Authors.

引用

页码：2791 / 2796

页数：6

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