Received 30 July 2014; received in revised form 1 September 2014; accepted 1 September 2014ABSTRACTA robotic sapatial augmented reality (RSAR) system, which combines robotic components withprojector-based AR technique, is unique in its ability to expand the user interaction area bydynamically changing the position and orientation of a projector-camera unit (PCU). For a mov-ing PCU mounted on a conventional robotic device, we can compute its extrinsic parametersusing a robot kinematics method assuming a link and joint geometry is available. In a RSARsystem based on user-created robot (UCR), however, it is difficult to calibrate or measure thegeometric configuration, which limits to apply a conventional kinematics method. In this paper,we propose a data-driven kinematics control method for a UCR-based RSAR system. The pro-posed method utilized a pre-sampled data set of camera calibration acquired at sufficientinstances of kinematics configurations in fixed joint domains. Then, the sampled set is com-pactly represented as a set of B-spline surfaces. The proposed method have merits in two folds.First, it does not require any kinematics model such as a link length or joint orientation. Sec-ondly, the computation is simple since it just evaluates a several polynomials rather than rely-ing on Jacobian computation. We describe the proposed method and demonstrates the results foran experimental RSAR system with a PCU on a simple pan-tilt arm.Key Words:Computer vision, Pro-cam system, Spatial augmented reality, Calibration, Kinematics,B-spline surface fitting