Interactive robot trajectory planning and simulation using Augmented Reality
Robotics and Computer-Integrated Manufacturing
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Already in 1994 the term Projective Virtual Reality was coined and a first implementation was used to control a complex multirobot system in Germany over the Internet from California. Building on this foundation, the general aim of the development of virtual reality technology for automation applications at the Institute of Robotics Research (IRF) today is to provide the framework for Projective Virtual Reality for a broad range of applications. The general idea of Projective Virtual Reality is to allow users to “project” actions carried out in the virtual world into the real world by means of robots or other means of automation. The framework is based on a task-oriented approach which builds on the “task deduction” capabilities of a newly developed virtual reality system and a task planning component. The advantage of this approach is that robots which work at great distances from the control station can be controlled as easily and intuitively as robots that work right next to the control station. Robot control technology now provides the user in the virtual world with a “prolonged arm” into the physical environment, thus paving the way for intuitive control of complex systems over the Internet—and in general for a new quality of user-friendly man-machine interfaces for automation applications. Lately, this work has been enhanced by a new structure that allows one to distribute the virtual reality application over multiple computers on a network. With this new feature, it is now possible for multiple users to share the same virtual room, although they may physically be thousands of miles apart. They only need an Internet connection to share this new experience. Lately, the network distribution techniques have been further developed to not just allow users to cooperate over networked PCs but also to be able to set up a panorama projection or a cave running of a networked cluster of PCs. This approach cuts down the costs for such a high-end visualization environment drastically and allows for a new range of applications. © 2005 Wiley Periodicals, Inc.