Automatic generation of robot program codes from perception of human demonstration

Abstract

The paper describes a method of generating robot program codes automatically from perception of human demonstration. The movement of a marker-based mechatronic input device representing the end-effector of the manipulator is driven by an operator, and recorded by a special visual measurement system. The captured spatial path is divided into different segments for individual processing. For the 'pre-grasping' and 'post-degrasping' segments, only the end-effector 6D information during grasping and degrasping is extracted for input to the high-level grasping and degrasping commands. For the 'manipulating from start' and 'manipulating to stop' segments, spatial data are interpolated by the cubic-spline interpolation algorithm to provide sufficient data points for some robot motion controllers. For 'manipulation at high rate' and 'translation at high speed' segments, the segment start and end points are input as the two-point-boundary-value arguments of an optimal controller for generating better trajectories.