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Development of a 3D User Interface for Programming a Robotic Arm Using Virtual Reality

Abstract:

At present, there has been an increase in the use of virtual tools in different fields such as: medicine, education, agriculture and industrial security. The present paper is based on developing a graphical environment that enables to carry out the simulation of the Mitsubishi RV-2AJ robot movements by means of VR, implementing a virtual environment which combines the Visual Studio and Unity development platforms. The virtual scene was made using the software Unity and the robotic arm was designed using Autodesk Inventor Professional; the environment has a menu that enables interacting by means of the stereoscopic visualization helmet (HTC VIVE PRO) through the action of elements such as the slider and the buttons where the movements are reproduced in the virtual environment; this application involves an extensive study of the degrees of freedom and joints of the robotic arm, so that working ranges can be established together with the virtual menu, in turn, when analyzing through the homogeneous matrix, it is possible to obtain the necessary equations to establish said ranges. The project intends to be an educational innovation projection and a training guide for the student, increasing the interactivity with the functionalities of the robot in the virtual environment.