Robot task planning and trajectory learning for flexible automation

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Proceedings titleProceedings of the ASME Design Engineering Technical Conference
ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, 12 August 2012 through 12 August 2012, Chicago, IL
Pages13471353; # of pages: 7
SubjectFlexible automation; Human demonstrations; Key Patterns; Native language; Programming by demonstration; Robot trajectory; Task planning; Trajectory pattern; Algorithms; Design; Robots; Trajectories; Robot programming
AbstractA task planning method is presented to model and reproduce robot trajectories based on those captured from human demonstrations. In the framework of the Programming by Demonstration (PbD) approach, task planning algorithm is developed to determine the general type of trajectory pattern, its parameters, and its kinematic profile. The pattern is described independently of the shape of the surface on which it is demonstrated. Key pattern points are identified based on changes in direction and velocity, and are then reduced based on their proximity. The results of the analysis are provided are used inside a task planning algorithm, to produce robot trajectories based on the workpiece geometries. The trajectory is output in the form of robot native language code so that it can be readily downloaded on the robot. © 2012 by ASME.
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AffiliationNational Research Council Canada (NRC-CNRC); Aerospace (AERO-AERO)
Peer reviewedYes
NPARC number21269262
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Record identifier1e2faa12-927f-446c-a81e-d057bb512088
Record created2013-12-12
Record modified2016-05-09
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