Abstract
This paper presents a mixed reality teleoperation interface for mobile manipulation tasks in contamination critical production environments, where human presence is undesirable. This is achieved by using an intuitive control approach and providing the operator with a sense of depth through various visual feedback modalities. The different visual feeds from a mono-and stereoscopic multi-camera setup are displayed for the operator, in a mixed reality control room developed in Unity. The control interface employs the differentiation of the VR controller’s pose, interpolated into a trajectory for the end-effector. The communication between the operator and the robot is facilitated through ROS for control commands and visual feedback. Speed of operation is typically not crucial in current use cases, while task safety, accuracy, and perception are paramount. The paper presents the latest research developments of a mixed reality interface designed and tested for a mobile manipulator.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
