Robot teaching using projection function

We have proposed a projection function as a method of sharing information between a person and a coexistent robot. The projection function means that an image of the robot´s next motion is projected in the task environment to notify the human of what it is going to do and thereby to enable cooperation between the person and the robot. We apply the projection function to teaching the robot the task coordinates. The simulated image on the task floor moves along with the operator´s command. The operator can stay apart from the moving robot with the new teaching method. This method requires only the simulation model of the robot itself, while other methods based on virtual reality require a whole model of the task environment