An interactive virtual reality simulation system for robot control and operator training

Abstract

Robotic systems are often very complex and diflcult to operate, especially as multiple robots are integrated to accomplish diflcult tasks. In addition, training the operators of these complex robotic systems is timeconsuming and costly. In this paper, a virtual reality based robotic control system is presented. The virtual realiy system provides a means by which operators can operate, and be trained to operate, complex robotic Jystems in an intuitive, cost-effective way, Operator interaction with the robotic system is at a high, taskoriented, level. Continuous state monitoring prevents illegal robot actions and provides interactive feedback to the operator and real-time training for novice users.

Design and Construction of a Force-Reflecting Teleoperation System

“…An example of such a system has been developed at ACML for application in the cleanup of massive Underground Storage Tanks (UST). This system uses audio feedback to continuously guide the operator and to provide command cofilrmation [Miner and Stansfield 1994].…”

“…A Virtual Reality (VR) unit is a visual device, similar to a helmet, that enables a person to perceive and interact with a virtual environment as if it were real [Miner and Stansfield 1994]. In telesensation systems, the VR unit provides the view of the remote site as the operator turns or tilts his/her head, which corresponds to a remote system camera.…”

“…These scenarios usually include an emergency situation procedure training. Should the actual emergency occur, the operator would be much better at handling the situation [Miner and Stansfield 1994]. Also, the cost associated with training personnel reduces significantly, since direct hardware usage is significantly reduced.…”

Design and construction of a portable force-reflecting manual controller for teleoperation systems

“…An example of such a system has been developed at ACML for application in the cleanup of massive Underground Storage Tanks (UST). This system uses audio feedback to continuously guide the operator and to provide command confirmation [Miner and Stansfield, 1994]. …”

Adaptive Fault-Tolerant Teleoperation

“…Miner and Stansfield utilized voice recognition in their version of a VR simulation system for robot control [76]. The demands to drive the robot are spoken by the operator.…”