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To magistrsko delo obsega predstavo metode nadziranja mehanizma robotske roke z uporabo navidezne resničnosti. Uporabnik nadzoruje mehanizem z uporabo t. i. imenovane HMD(Head Mounted Display) naprave in daljincev. Uporabnik z HMD napravo opazuje navidezni prizor robota in nadzira vrh robota z uporabo daljincev. Opredeljene so ločene komponente robotskega mehanizma in implementacije mehanizma v navideznem okolju. Mehanizem, nadziran s pomočjo ESP32 mikroračunalnika, bere zahtevane uporabnikove gibe iz ustvarjenega Unity navideznega okolja preko UART povezave. Navidezno okolje Unity interpretira uporabnikove premike daljincev v vektorje gibov, ki jih robot lahko opravi. Krmilnik robotske roke bo tudi navideznemu okolju poročal stanje robota, da ta lahko uporabniku prikazuje aktivno stanje robota. This thesis contains the description of a method of controlling a robotic arm mechanism via the use of virtual reality. The user would control said mechanism using a device known as an HMD(Head Mounted Display) to view a virtual construct of the robot and control the tip of this robot using motion controllers. We will delve into describing seperate components of both the robotic arm and the implementation of the arm in a virtual environment. The arm will be controlled using an ESP32 microcomputer, which will read the users desired motions being sent from a Unity constructed virtual environment over an UART bridge. The unity virtual environment will be scripted to interpret the users controller motions into movement vectors that the robot can thus execute. The robot's controller would also provide feedback to the virtual environment to provide an active depiction of the robot's state to the user. |
