Research On Robot Teleoperation Based On Mixed Reality Technology

With the improvement of science and technology,and the increase in people' s life and production needs,robot technology has become an important part of current scientific research,industry,and life.It is used in more and more fields such as industrial production,household services,medical health,and live entertainment.The huge robot demand market and challenging robot problems make researchers need to continuously and deeply explore this direction.With the enrichment of robot application scenarios,there are also higher requirements for its mobility.This makes mobile robots have received widespread attention and has become an important direction in the current robotics field.Most of the research is devoted to making the structure of the robot more intelligent and the control method more efficient and abundant.The omnidirectional mobile robot has a complete form of motion and omnidirectional mobility,which can greatly reduce the design difficulty of the robot control terminal,and move flexibly in a small space.Therefore,it has become the choice of many mobile robots for research and application.Mixed reality is a brand-new display and interactive technology with great development potential.There are more and more researches on combining this technology with other scientific research directions.Mixed reality technology can easily realize the remote operation of robots,visually display rich information,and provide virtual and real interactive functions,providing new ideas for robot control and broadening the use of scenarios.The main research content of this subject is to build a mobile robot teleoperation system based on mixed reality technology to achieve a safer and more efficient control scheme.First,a mobile robot control system based on mixed reality and electromyography signals is designed.The system can recognize gesture control signals through the mixed reality device HoloLens,collect the electromyography signal through the MYO bracelet,and work together to achieve complete motion control of the omnidirectional mobile robot.The system combines the two signals to achieve more precise control of the robot,and the effectiveness of the system is verified through experiments.Then an interactive system for path planning of mixed reality augmented mobile robots is designed.This system can not only control the omnidirectional mobile robot to complete path planning but also add virtual obstacles in the real scene so that the robot can also timely react to the virtual obstacles to avoid obstacles.In addition,to better adapt to scenes with sudden virtual obstacles,the system also improves the original VFH*algorithm,reduces the amount of calculation,and optimizes the safety of the robot's movement.Finally,through simulation experiments and real scene experiments,the feasibility of the system and the actual effect of the improved algorithm are verified.