Robot control device using augmented reality and mixed reality, computer program for defining the position and orientation of the robot, method for defining the position and orientation of the robot, computer program for acquiring the relative position and orientation, and method for acquiring the relative position and orientation.

摘要

To provide a robot control device that assists user's work by efficiently using augmented reality and composite reality.SOLUTION: A robot control device 10 comprises: a position and pose acquisition unit 20 that acquires relative positions and poses of a display device 18 and a robot 14 included in a real environment; a display control unit 24 that causes a display device 18 to display a virtual model such as the robot 14, a movable portion of the robot 14 or an object supported by the movable portion; and a position and pose regulation unit 28 that, based on at least one of a position and a pose of the virtual model and based on the relative positions and poses of the robot 14 and the display device 18, regulates at least one of a position and a pose of the robot 14.SELECTED DRAWING: Figure 1