Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and digital worlds to provide special immersive experiences, it is necessary to establish the information exchange platform and robot control systems within the developed MR scenarios. In this work, we mainly present multiple effective motion control methods applied on different interactive robotic arms (e.g., UR5, UR5e, myCobot) for the Unity-based development of MR applications, including GUI control panel, text input control panel, end-effector object dynamic tracking and ROS-Unity digital-twin connection.

翻译：摘要：在第四次工业革命范式下，混合现实（MR）技术持续演进，为更先进的人机交互催生了新的机器人操控模式。鉴于混合现实旨在连接物理世界与数字世界以提供特殊的沉浸式体验，有必要在开发的MR场景中建立信息交换平台与机器人控制系统。本文主要针对基于Unity的MR应用开发，提出了应用于不同交互式机械臂（如UR5、UR5e、myCobot）的多种有效运动控制方法，包括GUI控制面板、文本输入控制面板、末端执行器物体动态跟踪以及ROS-Unity数字孪生连接。