Sistema de teleoperación con realidad virtual para la manipulación de un robot móvil

Abstract

During the last years the industry has grown significantly to what is now known as Industry 4.0 and all this goes hand in hand with robot automation. Industries began to use mobile robots to optimize certain manufacturing tasks and have the best possible result, avoiding human errors, in addition to ensuring the possibility of carrying out different tasks in areas where people do not have access, since these are areas that are difficult to enter or that are harmful to people's health. The problem with this is the lack of knowledge about the operation and correct use of the robot. Due to these factors, this research project presents the development of a virtual reality teleoperation system, using the HTC Vive Pro 2 virtual reality glasses. This will allow the person to immerse themselves in a completely virtual environment to become familiar with the operation and control of a robot, adapting to their needs, in this case it is the Kuka Youbot which contains ROS as an operating system. The control system of the robot with virtual reality is developed using the Unity 3D graphics engine, allowing it to connect with the robot's ROS operating system and execute movement orders according to the needs of whoever is manipulating it. Also, the control of the robot is carried out through simulation in Gazebo, facilitating the understanding of its operation and preventing possible damage to the real robot. This research work is linked to the research project "Use of deep learning techniques for optimization of autonomous trajectories of mobile robots within an industrial process" and benefits all students who are interested in expanding their knowledge in the world of robotics.