As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic component, or adding more robots into an existing infrastructure, remains a challenge. This is due to both the logistics of acquiring a robot and the need for expert knowledge in setting it up. In this paper, we address these concerns by developing a purely virtual simulation of a robotic system. Our proposed framework enables natural human-robot interaction through a visually immersive representation of the workspace. The main advantages of our approach are the following: (i) independence from a physical system, (ii) flexibility in defining the workspace and robotic tasks, and (iii) an intuitive interaction between the operator and the simulated environment. Not only does our system provide an enhanced understanding of 3D space to the operator, but it also encourages a hands-on way to perform robot programming. We evaluate the effectiveness of our method in applying novel automation assignments by training a robot in virtual reality and then executing the task on a real robot.

翻译：随着机器人在各类工业场景中日益普及，人们对可靠易用系统的需求也随之增长。然而，如何有效评估引入新机器人组件或在现有基础设施中添加更多机器人的可行性，仍是一项挑战。这既源于获取机器人设备的物流复杂性，也涉及系统部署所需的专业知识。本文通过开发纯虚拟机器人仿真系统来解决这些问题。所提出的框架通过视觉沉浸式工作空间表征，实现了自然的人机交互。该方法的主要优势包括：（i）无需依赖物理系统，（ii）工作空间与机器人任务定义的灵活性，以及（iii）操作员与仿真环境间的直观交互。该系统不仅增强了操作员对三维空间的感知能力，还鼓励以实践方式进行机器人编程。我们通过在虚拟现实中训练机器人并在真实机器人上执行任务，评估了该方法在应用新型自动化任务中的有效性。