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• W3153460213 abstract "Augmented reality (AR)-based programming using the demonstration method has been widely studied. However, studies on AR-based programming for remote robots are lacking because of the limitation of human–computer interaction. This paper proposes an AR-based robot teleoperation system and method using RGB-D imaging and an attitude teaching device. By sending the color and depth images of the remote robot environment to the local side, the operators can complete the teleoperation of the robot at the local side. First, the operators select key positions on the motion path of the robot endpoint from color images via a mouse, and the computer calculates the 3D coordinates of these key points in the robot base coordinate system to complete the position teaching process. In the robot attitude teaching process, the AR technology is used to superimpose the virtual robot model onto the color images of the robot teleoperation environment, so as to make the virtual robot endpoint to move along the teaching path. An operator can use the portable attitude teaching device designed in this study to control the robot movement parameters, such as the attitude and motion speed, during the movement of the virtual robot. After the position and attitude teaching processes, the robot movement trajectory can be generated. To make the base coordinate system of the virtual model consistent with that of the physical robot, we propose an online AR registration method, which does not require manually placing the AR registration marker. The proposed AR-based robot teleoperation system can quickly and easily complete robot teleoperation at the local side." @default.
• W3153460213 created "2021-04-26" @default.
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• W3153460213 date "2021-10-01" @default.
• W3153460213 modified "2023-10-06" @default.
• W3153460213 title "Augmented reality-based robot teleoperation system using RGB-D imaging and attitude teaching device" @default.
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• W3153460213 doi "https://doi.org/10.1016/j.rcim.2021.102167" @default.
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