Virtual reality based point-and-direct robotic system with instrumented glove

David J. Cannon, Geb Thomas, Collin Wang, T Kesavadas

Research output: Contribution to journalArticle

Abstract

A system was developed to feature the flexible capabilities of robots by directing them with gesture phrases such as `put that there.' This natural human-computer interface to robots uses virtual tools that are graphic representations of robot end-effectors to designate pick, place and other points of interest in live video views of the robot's workspace. Guided by an instrumented glove worn on the operators left hand, these virtual tools `fly' in live video. An operator is able to specify object positions and destinations quickly without resorting to cumbersome telemanipulation or teach pendant control of an actual robot having multiple links. The robot provides trajectory planning between points so the human only needs to point and give directives. Tasks have been developed for hazardous material handling and for rapid development of production systems in flexible manufacturing. This paper reports the new capability as implemented and describes a brief pilot test designed to assess one aspect of using an Instrumented Glove in this Supervisory Control Interface.

Original languageEnglish (US)
Pages (from-to)139-148
Number of pages10
JournalInternational Journal of Industrial Engineering : Theory Applications and Practice
Volume1
Issue number2
StatePublished - Jun 1994
Externally publishedYes

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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