KR10_LeapMotion_VR_Control

Online/Offline Control of KUKA-KR10 using Leapmotion sensor and VR controllers inside Unity Environment.

In this repo:

A development and implementation of a VR application controlling an industrial manipulator was done to improve the usability of this manipulator and enable the interaction between the user and the robot and its workspace features

• Hardware: Our Hardware part included an industrial manipulator connected to a PC using TCP/IP connection. In addition to AR/VR supported headset and controllers with an IR stereo camera (Leapmotion) as an option.
• Software: A Unity3D VR application containing the 3D model of the manipulator connected with the real robot and VR instruments.

Data input methods:

1. IR stereo camera sensor (Leapmotion) : captures both hands movements in real time.
2. AR/VR sensors ( HTC VIVE pro instruments) : captures head and controllers movements in real time.

System Procedure:

• Leapmotion: hand movements read as position coordinates
• VR : the head and controllers movements read as 6DOF data.
• Data Filtering is sometimes required in this stage to remove noise and outliers. (Complementary filter was used).
• 6DOF data of the controllers is mapped to the position and orientation of the industrial robot’s end effector in the application.
• Inverse Kinematics is used to calculate the generalized parameters of the virtual robot.
• Generalized parameters are sent to the joints of the real robot.

Citation:

If you find our work useful in your research, please consider citing:

    @article{MURHIJ2019203,
        title = "An application to simulate and control industrial robot in virtual reality environment integrated with IR stereo camera sensor",
        journal = "IFAC-PapersOnLine",
        year = "2019",
        note = "19th IFAC Conference on Technology, Culture and International Stability TECIS 2019",
        issn = "2405-8963",
        doi = "https://doi.org/10.1016/j.ifacol.2019.12.473",
        author = "Youshaa Murhij and Vladimir Serebrenny",
    }

Usage:

• Install Unity Software, SteamVR, HTC VIVE
• Clone this repository :

$git clone https://github.com/YoushaaMurhij/KR10_LeapMotion_VR_Control.git  

• Add dependencies: VIVE Input, SteamVR to Unity. [Done]
• Plug in HTC Vive VR instruments and LeapMotion sensor [Optional].
• Create your own scene and Start.
• Connect the real KR10 robot [Optional].
• Enjoy 😃

ResearchGate:

You can check my project on My ResearchGate Profile