Industrial Robot Remote Control using Virtual Reality Interfaces

Industrial robots performing complex operations often require remote control. The operator must have access to configure the robot behavior, set operations, simulate operation execution before execution, synchronize robot and its digital model state, change the control mode if necessary. Virtual reality interfaces allow to control robots interactively and perform all the operations described above. The article proposes an implementation of a control system based on virtual reality interfaces, which allows real-time control of an industrial robot. The proposed solution has been tested on two robots and includes a universal (iterative) inverse kinematics solver, a trajectory planner, a tasks scheduler, supports work in master-slave and trajectory modes.