Paper
Human-Robot Cooperation in Virtual Assembly Using Augmented Reality
- Authors:
- Siam Charoenseang; Tarinee Tonggoed
- Abstract
- This research presents an implementation of human-robot cooperation system using augmented reality technique. In this research, human operator and robot arm share the common workspace in virtual object assembly task. The technique of augmented reality is used for creating virtual objects and providing necessary information to the human operator. The virtual objects are in the form of 3D computer graphics superimposed on the real video images. The ARToolKit software library is used in the vision manager to process captured video image and obtain the positions and orientations of targeted objects. The task manager is responsible for generating action plans using STRIPS planning algorithm in assembly task and control system states. The robot manager takes care of computing forward/inverse kinematics of the developed robot arm, reading robot’s joint angles, and sending commands to control the robot. Graphics manager is used to generate 2D and 3D computer graphics rendered on the real video images. The graphics present all guidance information and virtual objects to the operator. The system can generate assembly plans for human and robot step by step. The robot arm is responsible for assisting the human operator by transferring virtual objects to the loading area. Furthermore, a task planner controls all robots’ operations accordingly to human actions. Human operator can accept or decline robot’s assistance. Human operator also receives robot’s task plan in the form of computer graphics during the operation. The computer-generated information will support human operator’s decision for a suitable next step action. Therefore, the augmented reality can enhance the cooperation between human operator and the robot effectively.
- Keywords
- Human-Robot Cooperation; Augmented Reality; Task Planning
- StartPage
- 47
- EndPage
- 55
- Doi