Towards real-time robot programming by human demonstration for 6D force controlled actions

An approach for real-time robot programming by human demonstration for 6D force controlled actions is presented. A human operator utilises a joystick to guide a robot with a force sensor to execute a task including continuous contact between a manipulated object and an unmodelled environment. During the demonstration, the position, velocity and force of the manipulated object as well as the human commands via the joystick are recorded. In real-time, the recorded information is translated into a textual robot program providing more robust execution in the presence of uncertainties. This approach has three main features (1) online control type adjustment; (2) automatic subtask termination; (3) real-time program generation. Experiments show the potential industrial applicability.