This work looks into the use of augmented reality (AR) to simulate the movements of a robotic arm for a work cell. By doing this, we avoid any wastage of materials and decrease any chance of work accidents with new trainees. The robot arm is modelled based on the Denavit-Hartenberg inverse kinematic theorem, and the generated coordinates can directly be used as input for a real KUKA KR16KS robotic arm. Other features include collision detection and a heads-up-display (HUD) to enhance the user's visual, aural and proprioceptive senses.

Paper Link

Keio University

Graduate School of Media Design

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