摘要：The paper show a state-of-the-art approach for programming industrial robotics manipulator via mixed reality holographic interface. In mixed reality, we implement basic functionality for robot programming: setting up the base and tool frames, setting the sequence of Cartesian poses and Joint positions for robot motion, robot movements simulation. The software developed is based on Unity, ROS, and MoveIt frameworks. We compared cursor-based interface (Microsoft HoloLens 1) and full hand tracking (Microsoft HoloLens 2 and Oculus Quest 2) functionalities for interactive robot programming. We tested our approach on the UR10e collaborative robot in the virtual scene and real environment. The full hand tracking human-robot interaction approach improves the setup of Cartesian and Joints robot goals in respect to cursor based interaction.
