Teleoperación semi-inmersiva de brazo robótico mediante realidad virtual y estimación de pose 6D

Abstract

CONDITION FOR PUBLICATION OF PROJECT. Operator exposure to hazardous industrial environments remains a significant occupational safety risk, despite advances in automation. The project aims to develop a virtual reality teleoperation system for remotely manipulating objects with a robotic arm. This system minimizes human presence in hazardous areas, allowing the operator to intervene from a safe environment. A collaborative robotic manipulator, an RGB-D camera, and an immersive interface in Unity were used. Communication and control have been integrated with ROS 2 and motion planning tools, considering safety standards and kinematic constraints. A perception system has been implemented to estimate the position and orientation of objects in six degrees of freedom, facilitating trajectory planning. The results showed effective synchronization between the virtual environment and the physical system, as well as accurate estimation of object position and safe execution of picking and placing tasks. In conclusion, the system verifies the feasibility of robotic teleoperation with virtual reality as an effective alternative for remote manipulation in high-risk environments. Keywords: Robotic systems, human-robot interaction, trajectory planning, immersive environments.