Abstract
Now substitute labor by the robot is necessary in order to compensate for the reduction in the workforce. However, there is a need for more simple teaching technique. Because, robot teaching has a large cost and has a need for knowledge related to teaching and programming. To solve this problem, teaching by showing technique has been proposed. In these methods, by expressing the motion trajectory of the demonstrator using the via-point, and performs the reconfiguration of the working trajectory. However, extraction condition of the via-points is not considered. Recent researches show achievement of task is related to the motion variance. This paper proposes a via-points extraction method using motion variance of demonstrator's movements and a trajectory generation method by imitation. Finally, the validity of the extracted via-points has been verified, using the proposed method in the peg transport task by experimental machine.
