Augmented Reality Manipulator

This paper aims to present an implementation overview of an Android-based application to spawn a UR5 robotic arm in augmented reality and allows the user to remotely operate the real-life version of the UR5 arm to act as a test bench for robotic manipulator systems. The system utilizes the Unity Game Engine for app development and ROS Noetic with Moveit! for controlling the arm. The proposed system enables safe operation of the arm by allowing the user to simulate and validate operation on an virtual AR replica before testing it out with the real arm. This keeps the arm as well as any property in its workspace safe from unwanted damage, allowing for use cases in industrial and research-oriented applications. The interface can also be used as developing software for people who do not have access to the real arm to avoid creating time-consuming worlds for simulators like Gazebo for prototyping. Instead, the interface can provide a real-life simulator to provide a more realistic feel while testing. Once the user is satisfied with the results, the trajectory plan/joint angles can be stored and can be used on the real UR5 for similar operations.