Automatic generation of robot program codes from perception of human demonstration

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