Virtual reality interface for assist in programming of tasks of a robotic manipulator

Abstract

The creation of interfaces that contribute to the interaction between a programmer and an industrial robot are based on implementing adequate procedures that facilitate people without knowledge of robotics and programming of robotic manipulators to generate tasks or activities that the robotic arm executes. In this article, it describes the creation of a programming interface using virtual reality, as an immersion tool in the work environment of the yaskawa motoman HP20D robot. This virtual environment was developed from 3D models, later exported to the Unity 3D video game engine, in this interface the functions are programmed that allow the user to interact with the robot according to the movements and trajectories performed by the user in the work environment. A MYO Armband sensor is used to operate the position and orientation of the end effector of the robot within the environment and the Oculus Riff DK2 virtual reality glasses are used to visualize the entire space, with a first-person perspective. As a result, a computational tool is obtained that allows generating trajectories, recording them, simulating them and generating the script or programming code to be implement in the robotic manipulator controller.