Design And Implementation Of Robot Immersive Human-Computer Interaction System Based On VR Technology

In recent years,VR(Virtual Reality)technology has continued to be hot.Virtual reality is a computer-aided simulation system that integrates three-dimensional real-time graphics display,computer simulation,sensors,artificial intelligence and other key technologies to provide physical the immersive user experience is very popular,and its figure frequently appears in different industries.At the same time,with the acceleration of my country’s ageing and labor costs,as well as the launch of the "smart manufacturing" slogan,robots are widely used in all walks of life due to their efficient,precise,and intelligent work characteristics.Under the guidance of the national innovation-driven development strategy,China’s robotics industry is ushering in a golden period of rapid and high-quality development.Combining VR technology and robotics technology to develop a virtual reality human-computer interaction system that meets the technical requirements.No longer can only interact with the robot with the help of a computer screen and a mouse.This will be used as an effective tool for research and development of robots.There is a certain application potential in training and practical applications of robots.This article takes a 6-DOF lightweight bionic robotic arm-Kinova Mico2 as the research object,with the help of Unity 3D virtual reality development engine and robot operating system(ROS),using HTC VIVE virtual reality kit as an interactive tool,from teaching training and practical application From the perspective of,develop a set of immersive robot humancomputer interaction system based on VR technology.The main work of the research is summarized as follows:First of all,in order to enhance the user’s sense of reality in the virtual scene and improve the user’s immersive experience,an accurate model of the robotic arm was established through professional 3D modeling software,and a realistic VR scene was built.Secondly,a hand-held control handle is developed for teleporting,grabbing,interface interaction and other functions in the virtual scene,and a collision detection module in the scene is designed,allowing users to disassemble the virtual robot arm through the handle,supplemented by text And video.Thirdly,a corresponding in-depth study was carried out on the kinematics and trajectory planning of Kinova Mico2 manipulator.The kinematics model of the manipulator is established,the inverse kinematics of the manipulator is solved,and the trajectory planning of the manipulator is researched and analyzed.Based on the above theoretical analysis,the simulation function of the system is designed to realize the space linear trajectory planning,space arc trajectory planning and joint motion control of the virtual manipulator.Then,build an environment to drive the real robot arm on the lower computer,research the data communication between the upper and lower computers,complete the communication connection through Socket communication,and realize the linkage control function of the virtual robot arm and the real robot arm.Finally,through the UGUI technology design and development of the interactive interface under the various functional scenarios of the system.Through the actual demonstration test of each functional module,the feasibility of the technical route of the immersive interactive system design was verified,and the expected functional requirements were realized.