著者

槇田 諭 浦川 竜裕

出版者

福岡工業大学総合研究機構

雑誌

福岡工業大学総合研究機構研究所報 (ISSN:24345725)

巻号頁・発行日

vol.4, pp.41-45, 2021-10-31

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This paper summarizes several robot programming approaches and presents a direct teaching method for robot programming of manipulators. A human operator wearing a head-mounted display and hand-held controllers manipulates a spherical marker in the computational space to determine a desired position of the manipulator. A depth camera attached to the manipulator acquires a point cloud of the surroundings of the manipulator to construct the scanned map in the computational space. The desired posture of the manipulator can be found by solving an inverse kinematics problem.