Lorenzo Peppoloni
Emanuele Ruffaldi
ABSTRACT
This work investigates the use of a highly immersive telepresence system for industrial robotics. A Robot Operating System integrated framework is presented where a remote robot is controlled through operator's movements and muscle contractions captured with a wearable device. An augmented 3D visual feedback is sent to the user providing the remote environment scenario from the robot's point of view and additional information pertaining to the task execution. The system proposed, using robot mounted RGB-D camera, identifies known objects and relates their pose to robot arm pose and to targets relevant to the task execution. The system is preliminary validated during a pick-and-place task using a Baxter robot. The experiment shows the practicability and the effectiveness of the proposed approach.
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Index Terms
- Augmented reality-aided tele-presence system for robot manipulation in industrial manufacturing
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