Design and Manipulation in Augmented Reality of Fanuc 200iC Robot

In this paper, an AR (Augmented reality) system based on a multimodal user interface is proposed and its core techniques are described. The objective of this work is to realize certain task that operators can use the virtual robot to ameliorate the interaction with the real world using AR environment. VC++ and OpenGL are used to create this application. AR applications (ARToolKit) is used to detect the real-time position and orientation of camera and to facilite the operator’s observation and operation. Experiments prove that the system is reliable and efficient. Simulation result is obtained and it is very useful for designers to ameliorate the interaction with the real world.

[1]  He Bin.  Precise modeling of virtual device in virtual reality based on SolidWorks-VRML , 2007 .

[2]  Ivan Poupyrev,et al.  Virtual object manipulation on a table-top AR environment , 2000, Proceedings IEEE and ACM International Symposium on Augmented Reality (ISAR 2000).

[3]  Paolo Righettini,et al.  A homogeneous matrix approach to 3D kinematics and dynamics—II. Applications to chains of rigid bodies and serial manipulators , 1996 .

[4]  Holger Regenbrecht,et al.  Augmented reality projects in the automotive and aerospace industries , 2005, IEEE Computer Graphics and Applications.

[5]  Kirk Martinez,et al.  Camera self-calibration for the ARToolKit , 2002, The First IEEE International Workshop Agumented Reality Toolkit,.

[6]  Ibari Benaoumeur,et al.  Remote Control of Mobile Robot using the Virtual Reality , 2015 .

[7]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[8]  Samir Otmane,et al.  An Evaluation of Camera Pose Methods for an Augmented Reality System: Application to Teaching Industrial Robots , 2013, Trans. Comput. Sci..

[9]  Jean-Yves Didier,et al.  A performance study for camera pose estimation using visual marker based tracking , 2010, Machine Vision and Applications.

[10]  Tyrone L. Vincent,et al.  Three-Dimensional Motion and Structure Estimation Using Inertial Sensors and Computer Vision for Augmented Reality , 2002, Presence: Teleoperators & Virtual Environments.

[11]  Kamel Bouzgou,et al.  Geometric modeling and singularity of 6 DOF Fanuc 200IC robot , 2014, Fourth edition of the International Conference on the Innovative Computing Technology (INTECH 2014).

[12]  Laredj Benchikh,et al.  An application of augmented reality (AR) in the manipulation of fanuc 200iC robot , 2015, Fifth International Conference on the Innovative Computing Technology (INTECH 2015).

[13]  G. Legnani,et al.  A homogeneous matrix approach to 3D kinematics and dynamics — I. Theory , 1996 .

[14]  Michel Dhome,et al.  Determination of the Attitude of 3D Objects from a Single Perspective View , 1989, IEEE Trans. Pattern Anal. Mach. Intell..