Intuitive Robot Programming of Spatial Control Loops with Linear Movements

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Soller, Katharina ; Henrich, Dominik:
Intuitive Robot Programming of Spatial Control Loops with Linear Movements.
In: Kröger, Torsten ; Wahl, Friedrich M. (ed.): Advances in Robotics Research : Theory, Implementation, Application. - Berlin : Springer , 2009 . - pp. 147-158
ISBN 978-3-642-01213-6
DOI: https://doi.org/10.1007/978-3-642-01213-6_14

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Programming by demonstration (PbD) is a promising approach to facilitate the use of robots. The bandwidth of PbD systems extends from simple play back to artificial intelligence methods. Our approach is based on the former. This paper aims to introduce and examine intuitive programming of spatial loops, i.e. program loops whose body changes according to a spatial variable. The loop is programmed by executing e.g. the first, the second, and the last run. The system then determines all components of the loop so they can be used to generate a program. The focus of this paper lies in automatic determination of the variables for the start, the step and the end of spatial loops. This method of robot programming has interesting applications in the field of industrial robotics, especially with respect to small- and medium-sized enterprises, as well as for service robotics.