Obstacle avoidance for robotic manipulator using Mixed reality glasses

摘要

The problem of finding the shortest path for manipulators with obstacle avoidance has many solutions. The paper presents the usage of well-known methods for solving that problem using mixed reality glasses. Glasses contain the Spatial mapping module, presented in the form of an continuously updating mesh. Analyzing space through mixed reality glasses, we have developed algorithms for obtaining the shortest path in the Cartesian and Joint spaces. In the beginning, we implement A* simple algorithm and then realized the improved RRT algorithm. The approaches were verified using Unity, Microsoft HoloLens and 6 DOF robot UR10e.