Abstract
In this paper, we evaluate the synchronization method of the robot in virtual and real space in an Augmented Reality (AR) simulator for industrial robots. Human Robot Collaboration (HRC) is working method to perform the same task cooperating with human and robot. The method can combine the advantages of humans and robots to increase working efficiency. It has a lot of potential, but we are unable to implement it in the real world for intimate distance. Therefore, We are developing an HRC simulator using an Mixed Reality (MR) device. The simulator is designed as a HRC simulator that collects various data using VR and MR devices to assist in developing real HRC systems. The simulator has the function of simultaneously operating the robot in the real and virtual worlds. For users to use the simulator without stress, reduces delay between a real robot and a virtual robot is necessary. In recent years, the research on synchronization between virtual and real space has progressed with the spread of digital twins.In this paper, We develop a prototype of an AR simulator and investigate the delay in motion between robots. Then, we design methods to reduce the delay based on the results and evaluate these methods.
The prototype consists of a robot moving between two points, and the robot in the virtual space moves to avoid a human hand when it detects it.In this experiment, three patterns are evaluated.The first pattern is a human hand never enters the robot during a motion.The second pattern is a human hand enters the robot only once during a motion.The third pattern is a human hand enters the robot multiple times during a motion.The experiment shows that when the results of the path planning are sent to the ROS and reflected the robot in real space, there is a delay in the motion because the motions are accumulated in a queue.From these results, We design a method to reduce the delay and evaluated it from a position, pose error, and motion delay.
https://ror.org/02278tr80 
