Percorrer por autor "Silva, Carlos Daniel Ferreira"
A mostrar 1 - 1 de 1
Resultados por página
Opções de ordenação
- Developing an MR-Based Robotic Control System for Object Grasping ApplicationPublication . Silva, Carlos Daniel Ferreira; Correia, Ricardo João Luís MarquesThis dissertation presents the design, implementation, and evaluation of a mixed reality (MR) teleoperation system for controlling a Universal Robots UR5e using a Meta Quest 3S headset and a Unity-based application. The system integrates an XR interaction layer for capturing controller pose and inputs, a communication and control layer based on the UR dashboard interface and RTDE, and a synchronized digital twin rendered in MR to provide continuous visual feedback aligned with the physical workspace. Robot motion is generated through a clutch-based interaction mechanism: when the control button is held, relative controller motion is mapped to incremental robot motion commands; when released, motion commands stop and the user can reposition without affecting the robot. Runtime tuning parameters (e.g., translation and rotation multipliers and jitter thresholds) are exposed through in-headset UI panels to support sensitivity adjustment during operation. A user study was conducted to assess perceived responsiveness, intuitiveness of translational and rotational control, and overall interface usability. Results indicate that translational control was generally easy to learn and rated as intuitive by most participants. Rotational control was rated positively overall, although roll was iden tified as the most challenging axis. Perceived delay was typically reported as having low impact, but qualitative feedback highlighted the importance of fine control tun ing and interface readability, including accessibility concerns for users with strong vision correction needs. Overall, the findings support MR-based teleoperation with a digital twin as a practical and intuitive interaction paradigm, while highlighting concrete design trade-offs between responsiveness, stability, and interface accessibil ity.