Teleoperation of industrial robot manipulators based on augmented reality
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ORIGINAL ARTICLE
Teleoperation of industrial robot manipulators based on augmented reality J. Ernesto Solanes1
2 · Josep Tornero1 ˜ 1 · Luis Gracia1 · Ana Mart´ı1 · Vicent Girbes-Juan ´ · Adolfo Munoz
Received: 19 May 2020 / Accepted: 24 August 2020 © Springer-Verlag London Ltd., part of Springer Nature 2020
Abstract This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant interface for teleoperation tasks. In particular, the results of these usability tests show that the proposed approach is more intuitive, ergonomic, and easy to use. Furthermore, the comparison results also show that the proposed method clearly improves the velocity of the teleoperation task, regardless of the user’s previous experience in robotics and augmented reality technology. Keywords Augmented reality interface · Industry 4.0 · Industrial robot teleoperation · Mixed reality interface · Guiding industrial robots
1 Introduction 1.1 Motivation Industrial robot manipulators have been utilized in industry for a long time with great efficiency. These robots have allowed to automate most of the current production lines to improve productivity and product quality. For this reason, tasks such as welding, painting, or pick and place of products are carried out by industrial robots. The development of a robot application usually requires performing robot teleoperation at some point. For instance, robots are typically programmed using teaching by showing techniques [5], which requires using robot teleoperation to locate the poses within the workspace that the robot must “learn.” Moreover, other robot applications are essentially J. Ernesto Solanes
a teleoperation task. For example, this is the case when a surgeon commands a robot to perform a surgery. However, the complexity of teleoperating industrial robots is still nowadays a handicap for potential nonexperienced users. The need for previous knowledge in robotics, together with the complexity of most interfaces provided by robot manufacturers, generates dependency of the non-experienced users with the technical service (expert workers) of the robot manufacturer. Aware of this issue, most robot manufacturers have developed interfaces more user friendly. Nevertheless, these interfaces are still complex and non-intuitive for nonexperienced users. Hence, this work aims to develop a more intuitive and easier-to-use interface for industrial robot teleoperation in order t
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