文章基本信息

标题：Interactive Robots Control Using Mixed Reality ⁎
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作者：M. Ostanin ; R. Yagfarov ; A. Klimchik 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：13
页码：695-700
DOI：10.1016/j.ifacol.2019.11.307
语种：English
出版社：Elsevier
摘要：The paper presents a mixed reality-based approach for interactive control of robotic manipulators and mobile platforms. In particular, we designed an interactive and understandable interface for human-robot interaction. The interface provides tools for robot path programming and visualizes it. Path visualization helps workers understand robot behavior, it is important for safety human-robot interaction. The paper presents an architecture of that system and the implementation for an industrial robot KUKA iiwa and mobile robot platform Plato. The main issue of a multi-platform system is related to the synchronization of coordinate frames for all elements. To deal with this problem we realized 3 setting options: manually, by a camera with markers, point clouds processing. We implemented our interface on Microsoft HoloLens and evaluated it on users.
关键词：KeywordsHuman-robot interactionMixed realityAugmented realityIndustrial robotsMobile robotsHoloLens