Abstract:
In Human-Robot Interaction (HRI) domain the prime focus is laid on the safety of the involved humans. High inertias, velocities and extensive work envelop, particularly of most of the currently used industrial robots, are reasons for the hazards associated with the interaction of humans with robots. Several strategies are being investigated for ensuring safety which includes lightweight robots (LWR), forcelimiting control, start-stop monitoring, speed limiting mode, etc. These approaches often require a range of hardware peripherals to be incorporated within and around the robotic system. Alternatively, the use of Virtual Reality (VR) systems to interact with otherwise dangerous robots allows for contactless interaction. In this paper we present a Virtual Reality based arrangement that allows the interaction with the robot from distance, in a virtually created environment, to ensure human safety. Keeping in view the frequent requirements of changes in robot's movement plan, the proposed scheme demonstrates the capability of programming these plans in the virtual environment as well. We have shown the results of controlling a real robot in VR and the root mean square error (RMSE) between the two joint angles of the real and the virtual robot is 2.61 degrees and 3.08 degrees. This leads to remote/tele-control of the robot which is one of the future demands considering the social impact of COVID-19.
Page(s):
72-80
DOI:
DOI not available
Published:
Journal: Pakistan Journal of Engineering and Applied Sciences, Volume: 29, Issue: 2, Year: 2021