Guidance for Robot Teleoperation using Augmented Reality

Abstract

In Nuclear power plants, Tele-operated Robots are generally employed for handling tasks in the harsh radiation environments. Maneuvering of the Tele-operated Robotic Arm in such critical workspace faces challenges such as time-delay in communication and Interaction constraints. Augmented Reality (AR) based predictive display offers potential solution to these problems. In this paper, the proposed work aims at using Augmented Reality concept of superimposing virtual objects onto the real video image. The graphical model of the Robot arm is created using OpenGL and it can be augmented onto the real image using accurate camera calibration and registration methods in OpenCV. Image processing technique such as Feature based tracking algorithm is used to obtain the required information such as position and orientation of the real Robotic Arm from the real video. With this information, virtual robotic arm model could be drawn and superimposed over the real-time video captured from the camera. Algorithm has been developed for activating motion in the virtual model through the user interface and incorporating the same in the real Robotic Arm.