Teaching 6-DOF tasks for robot operating assembly in the same category

A variety of product design is required in order to meet consumer´s demands. However, the traditional mass production process specializes in producing commodities with regular forms. This paper proposes an assembly robot system that can produce the same product with various different designs. Here, the robot learns a typical assembly task from the operator, and executes similar tasks in environments where the shape, scale and location of objects may differ