Takuya Matsumoto¹, Eiji Hayashi², Sakmongkon Chumkamon², Ayumu Tominaga³, Abbe Mowshowitz^4
1Department of Intelligent and Control Systems, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-city, Fukuoka, 820-8502, Japan
²Department of Mechanical Information Science and Technology, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka-city, Fukuoka, 820-8502, Japan
³Department of Creative Engineering Robotics and Mechatronics Course, National Institute of Technology Kitakyushu College, 5-20-1 Shi, Kokuraminamiku, Kitakyushu-city, Fukuoka, 802-0985, Japan
⁴Department of Computer Science, The City College of New York, 160 Convent Avenue, New York, NY 10031, USA
pp. 1–5
ABSTRACT
In this research, we developed an application that allows AR simulations to check safety ranges and operation details. Furthermore, we created a user-friendly GUI, suitable for individuals with limited knowledge in robot development. This application was developed using ARCore in Unity. By establishing communication between ROS (Robot Operating System) and Unity to control virtual robots, we achieved visualization of ROS-based robots in the AR environment. With this AR application, the need for physical safety design and verification of safety ranges during the introduction of robots in small and medium-sized enterprises has been significantly reduced. As a result, cost reduction in the implementation process can be expected, and it offers a potential solution to the labor shortage issues in such enterprises. In conclusion, the effectiveness of the AR application developed in this research has been confirmed

ARTICLE INFO
Article History
Received 26 November 2022
Accepted 02 August 2023

Keywords
Grasp stability
Enveloping grasp
Grasp stiffness matrix
Curvature effects

JAALR4101

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