Robot Task Execution with Telepresence Using Virtual Reality Technology

摘要

Robotic manipulators are widely used to replace human operators in tasks that are repetitive in nature. However, there are many tasks that are non-repetitive, unpredictable, or hazardous to the human operators. With teleoperation, or remote control, such tasks can still be performed using robotic manipulators. A suitable platform with visual and mechanical feedback is deemed necessary to simplify the operation of such system. This paper describes the design and implementation of a telepresent robot control system using virtual reality (VR) instruments. The system includes a stereo Head-Eye Module (HEM) with 3 degree-of-freedom, a highresolution stereo Head Mounted Display (HMD) for remote supervision, and a 6 degree-of-freedom articulated robotic manipulator. The motion of the operator’s head and hand are tracked using 6 degree-of-freedom magnetic trackers. Implementation of the system includes the mechanical design and fabrication of the HEM, and the overall software and hardware integration. The operation of the system was subsequently demonstrated by performing 2 specific tasks