METHOD FOR USING A MULTI-LINK ACTUATED MECHANISM, PREFERABLY A ROBOT, PARTICULARLY PREFERABLY AN ARTICULATED ROBOT, BY A USER BY MEANS OF A MOBILE DISPLAY APPARATUS

摘要

The present invention relates to a method for using a multi-link actuated mechanism (1), preferably a robot (1), particularly preferably an articulated robot (1), by a user (2) by means of a mobile display apparatus (4), wherein the multi-link actuated mechanism (1) comprises at least: • a plurality of links (11) that are interconnected by actuated joints (12) and • an end effector (14) that is connected to at least one link (11), wherein the mobile display apparatus (4) comprises at least: • at least one display element (41) embodied to display to the user (2) at least one real representation of the multi-link actuated mechanism (1), preferably with the surroundings thereof, and • at least one image capturing element (42) embodied to capture the multi-link actuated mechanism (1), preferably with the surroundings thereof, as image data together with depth information items, • wherein the display element (41) is further configured to overlay, for the user (2), at least one virtual representation of the multi-link actuated mechanism (1') on the real representation of the multi-link actuated mechanism (1), preferably and in the surroundings thereof, at least including the steps of: • aligning (000) the image capturing element (42) of the mobile display apparatus (4) on the multi-link actuated mechanism (1), preferably with the surroundings thereof, by the user (2), • capturing (030) at least the multi-link actuated mechanism (1), preferably with the surroundings thereof, by means of the image capturing element (42) of the mobile display apparatus (4), • identifying (050) the multi-link actuated mechanism (1), preferably and the surroundings thereof, in the captured image data of the image capturing element (42) of the mobile display apparatus (4), • indicating (070), in three dimensions, the multi-link actuated mechanism (1), preferably and in the surroundings thereof, on the basis of the captured image data together with the depth information items, and • overlaying (200) the virtual representation of the multi-link actuated mechanism (1'), preferably and in the surroundings thereof, on the multi-link actuated mechanism (1) in the display element (41) of the mobile display apparatus (4), wherein the overlay (200) is implemented taking account of the geometric relationships of the multi-link actuated mechanism (1), preferably and the surroundings thereof.