We propose a modeling and simulation method to control the pose of a projector mounted on a simple robotic device to be deployed in SAR (spatial augmented reality) application where a virtual content should be projected over a desired target area in the real world. For this purpose, the principal axis and four edges of a frustum, which are the key geometric features of projection, are kinematically modeled as a virtual prismatic joint with infinite length. This modeling can be easily formulated and integrated into an existing inverse kinematics (IK) control framework developed for robotics. The proposed method enables to control the pose of robotic SAR device in both forward and inverse manners, especially specifying a target area as an end-effector. We outline the proposed method with some preliminary results.
