Implementation of head-mounted display with augmented virtuality in micro-assembly teleoperation systems

Abstract

In this thesis augmented virtuality is applied to the micro-assembly system where the operator can monitor and operate with a headset and controllers to achieve the application of micro-assembly teleoperation To create the virtual environment firstly draw the simulation micro-assembly machine through CAD software and then import it into the Unity game engine Real world’s webcams are installed with eye-in-hand configuration The main technique assess the intrinsic matrix extrinsic matrix and distortion coefficients combined with the ray casting algorithm calculate the 3D pose of the copper rod’s endpoint and the hole The estimated 3D pose are transmitted over the network to a remote client host in an established virtual environment so that the virtual copper rod and virtual hole in the virtual environment have the pose information in real world coordinate and the implementation of head-mounted display with augmented virtuality in micro-assembly teleoperation systems is achieved This application enables the operator to have the immersive experience of operating the virtual micro-assembly machine in the remote environment and monitor the 3D pose of the hole from any viewing angle and viewing scale increasing the probability of successful assembly In this thesis two webcams were used to observe the micro objects on the server side The operator monitored and operated the micro objects on the remote client through the headset and the controller and the micro object assembly was successfully completed in the end The operation is with copper bar of diameter 190μm assembled to a hole of diameter 240μm i e clearance ratio of 0 208

Date of Award	2020
Original language	English
Supervisor	Ren-Jung Chang (Supervisor)