光学透過型ARデバイスを用いたロボット向けオンライン教示支援システムの実装と評価

抄録

In this work, we implemented and evaluated a system for robot teaching support using an optical see-through AR (Augmented Reality) device. The system supports an operator wearing an AR device during robot teaching by making some information on the robot visible. The information includes work area, joints limitations, joints angles and demand time for movement between two poses of the robot. Because of using optical see-through displays, during robot teaching with this system, operators can see the robot with their naked eyes. For persons who do not have expert knowledge or skills in robot teaching, robot teaching is hard to perform as efficiently as skillful persons. This is partially due to complex robot kinematics and joint angle limitations. Our system enables operators to perceive them intuitively. A developed prototype is demonstrated, and its performance is evaluated preliminarily.