Development of a Web Application to Support Validation of Indoor Robots Using AR

摘要

In this paper we report on the web application which was developed to help users considering the purchase of an indoor robot to verify the effectiveness of the robot in their environment of use. The application uses a robot model in RDTF format that works in a web browser. For the simulation calculations, it use a physical calculation engine compiled with WebAssembly or other tools to run at high speed, so that the robot can run at high speed even in a web browser. Similarly, for animation, it use a library compatible with WebGL, which enables high-speed display on a Web browser. In order to enable users to check the results of the indicated task and confirm the validity of the robot's purchase by checking the 3D animation in the operating environment, the trajectory of the task is generated in conjunction with ROS.