オフライン直接教示のためのモーショントラッキングによる仮想マニピュレータの姿勢操作

抄録

This paper presents an offline robot programming method based on direct teaching in the simulation space. The operator wears a head mounted display to observe the three-dimensional graphical model of the target robot and objects. In addition, the operator moves motion controllers attached to their hands to reflect their tracked position and orientation to the robot’s posture. Calculating inverse kinematics of the robot step by step generates a desired path of the joints. We demonstrate some pick and place motions programmed manually by the proposed method and evaluate their tracking precision.