VR 헤드셋을 이용한 원격조작을 위한 경량 로봇팔 개발 및 모션 제어

This study addresses the development of a lightweight robot arm for the surveillance and manipulation tasks of an autonomous quadruped robot. The robot arm utilizes compliant actuators to adapt to external contacts, and it is equipped with an RGB-D camera at the end to monitor the surrounding environment with a wide field of view. A remote operation is realized via VR technology, enabling intuitive control in a virtual reality setting, while a digital twin of the virtual environment allows users to visualize the real-time status of the robot. The motion control of the robot arm combines task-space PD control and the cross-product method with rotation matrices. Furthermore, a range-limiting algorithm is implemented to prevent exceeding joint limits. Finally, experimental results validate that the proposed VR headset-based remote operation method allows even novice users to easily manipulate the robot.