Interactive Robots Control Using Mixed Reality. Issue 13 (2019)

• Record Type: Journal Article
• Authors: Ostanin, M.; Yagfarov, R.; Klimchik, A.
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 13(2019)
• Page Start: 695
• Page End: 700
• Publication Date: 2019
• Subjects: Human-robot interaction -- Mixed reality -- Augmented reality -- Industrial robots -- Mobile robots -- HoloLens; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.11.307
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.