VARM

摘要

This paper describes a novel teleoperation interface system to program industrial robotic arms. The system demonstrates the potential to create a programmable interface that enables users with no prior knowledge of robotics to safely program mechanical manipulators with the use of Virtual Reality and the Leap Motion Controller. The system takes full advantage of the Leap Motion to navigate the virtual workspace of the robot that was created through the kinematic properties of the real robot. The implementation of the application was deemed possible by interfacing the Unity Engine with the Barrett WAM robotic arm. Preliminary experimental results show the ability of the system to engage and train appropriately the user in robot programming.