Change search
ReferencesLink to record
Permanent link

Direct link
Evaluation of Intuitive VR-based HRI for Simulated Industrial Robots
Mälardalen University, School of Innovation, Design and Engineering.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

While the accessibility and technology behind industrial robots is improving as well as becomingless expensive, the installation and conguration of industrial robot cells still proves tobe an expensive venture, especially for small and mid-sized companies. It is therefore of greatinterest to simulate robot cell installations, both for verication of system functionality as wellas for demonstration purposes for clients.However, the construction and conguration of a simulated robot cell is a time-consumingprocess and requires expertise that is often only found in engineers who are experienced withsoftware programming and spacial kinematics. If the process were to be simplied it would bringgreat advantages not only concerning the more ecient use of the time of software engineers butalso in marketing applications.As this paper will show, the use of Virtual Reality (VR) in simulating, displaying andcontrolling robots is a well investigated subject. It has been shown that VR can be used to showrobot simulation in more detail and to specify path movement in task programming. This paperfocuses upon nding and evaluating an intuitive Human Robot Interface (HRI) for interactingwith simulated robots using virtual reality.An HRI is proposed and evaluated, using the Oculus Rift Head Mounted Display (HMD)to display a 3-dimensional (3D) VR environment of a Robot Cell in ABB RobotStudio. Usingmarker-based tracking enabled by ARToolkit, the user's position in real world coordinates isforwarded to the virtual world, along with the position and orientation of a hand-held tool thatallows the user to manipulate the robot targets that are part of the simulated robots program.The system as an HRI was successful in giving the user a strong sense of immersion andgiving them a much better understanding of the robot cell and the positions of the dened robottargets. All participants were also able to dene robot targets much faster with the proposedinterface than when using the standard RobotStudio tools. Results show that the performance ofthe tracking system is adequate with regards to latency and accuracy for updating user positionand hand-held tool when using a video capture resolution of 640x480.

Place, publisher, year, edition, pages
2014. , 79 p.
Keyword [en]
Virtual Reality, VR, Augmented Reality, AR, Robot, Robotics, Automation, Industry, Industrial Robots, Oculus Rift, ARToolkit, marker-based tracking
National Category
URN: urn:nbn:se:mdh:diva-24880OAI: diva2:713597
External cooperation
Sejfo AutoIT
Subject / course
Computer Science
2013-11-14, Västerås, 14:54 (English)
Available from: 2014-04-25 Created: 2014-04-23 Last updated: 2014-04-25Bibliographically approved

Open Access in DiVA

Evaluation of Intuitive VR-based HRI for Simulated Industrial Robots(22184 kB)491 downloads
File information
File name FULLTEXT01.pdfFile size 22184 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Joonatan, Mänttäri
By organisation
School of Innovation, Design and Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 491 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 278 hits
ReferencesLink to record
Permanent link

Direct link