Work-in-Progress: Virtual Reality System for training on the operation and programing of a Collaborative Robot

摘要

The aim of this work is to present an open-source training system based on Virtual Reality and the Collaborative Universal Robot UR5e. This system uses the virtual controller URSim (Universal Robots Simulator) in conjunction with an open-source platform programed to overcome the lack of access to the robots during lockdowns or similar situations. The Virtual Reality platform was programed on Unity, it contains a model of the UR5e robot, all links were joined using the forward Kinematics obtained in house and then compared to that given by the manufacturer. For the inverse kinematics, the manufacturer kinematics calculations and path planning algorithms were used. As a result, a Virtual Reality environment for the kinematic chain was developed, the model can be fully joint jogged joint and linearly jogged using the manufacturer URSim virtual controller.