Conventional methods for programming a robot either are inflexible or demand significant expertise. While the notion of automatic programming by high-level goal specification addresses these issues, the overwhelming complexity of planning manipulator grasps and paths remains a formidable obstacle to practical implementation. Our approach of programming a robot is by direct human demonstration. ...

Abstract Nonlinear programming is a complex methodology where problem mathematically expressed in terms of optimality while imposing constraints on feasibility. Such problems are formulated by humans and solved optimization algorithms. We support domain experts their challenging tasks understanding troubleshooting runs intricate high-dimensional nonlinear programs through visual analytics syste...

Small and medium enterprises currently do not often use robots in their production; one reason is the complex handling, especially the time-consuming programming. Using the well known walk-through approach this drawback could be overcome. We discuss the defiances of this approach and present means of adapting trajectories by transforming them into sequences of geometric primitives. By means to ...

Programming-by-demonstration (PBD) is a new paradigm for programming industrial robots enabled by the development of the DLR/KUKA light-weight robot. Although the PBD approach facilitates and simplifies the generation of robot programs, the technician still needs to have skills and knowledge about the robotic system in order to produce efficient trajectories and to exploit the abilities of the ...