Robot Tele-Operation / Teaching System using VR Device

This paper proposes a "robot tele-teaching system using a VR device" as a new robot teaching method to replace the conventional robot teaching method. Currently we still need teach-pendant to teach industrial robots. It is very inconvenient method. Our novel method consists of two robots and a VR device. One robot is on site instead of the operator. A stereo camera is attached to its end of the robot, which realizes a 3D positionand posture obtained from HMD. The operator can then view the images through the HMD as if he/she are on site. The other manipulating robot is equipped with a gripper and can follow the position and orientation of the gripper-like input device held by the operator. This system is equipped with a correction and auto-teaching function that uses the geometric characteristics of the work object. This significantly reduces the time required for operation. In addition, the teaching points obtained by this system have been successfully used for playback in a real environment.