Abstract Robots have long been part of production lines and, since they are widely used in a variety of applications, they have become a mass product. Yet, their integration into production is costly due to the necessity of skilled engineers programming them. The goal of this article is to reduce these costs via a programming by demonstration approach, allowing unskilled workers to complete the task of said engineers. Rather than just working next to a robot, this enables a collaborative work environment where humans use manipulators as tools for various tasks. This work aims at automatically generating a trajectory by a single kinesthetic demonstration, which is performed by a non-expert user. The proposed approach adapts and extends the trajectory generator of a previous work and develops a method that gives guarantees on the deviation between the demonstrated path and the generated path. In contrast to the previous work, an expert user is not required. Furthermore, instead of teaching a series of points the whole trajectory is recorded in a single demonstration. To ensure real-time compatibility on the target hardware, one focus of this paper is on the complexity of the algorithm. The method is validated using a soft quasi continuum manipulator as an example for a collaborative robot.

中文翻译：

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软协作机器人演示的一次性动觉编程

摘要 机器人长期以来一直是生产线的一部分，由于它们被广泛应用于各种应用中，因此已成为一种批量产品。然而，由于需要熟练的工程师对其进行编程，将它们集成到生产中的成本很高。本文的目标是通过演示方法编程来降低这些成本，让非熟练工人完成上述工程师的任务。这不仅仅是在机器人旁边工作，而是实现了一个协作工作环境，在这种环境中，人类使用机械手作为各种任务的工具。这项工作旨在通过由非专家用户执行的单个动觉演示自动生成轨迹。所提出的方法适应并扩展了先前工作的轨迹生成器，并开发了一种方法，可以保证演示路径和生成路径之间的偏差。与之前的工作相比，不需要专家用户。此外，不是教授一系列点，而是在单个演示中记录整个轨迹。为了确保目标硬件的实时兼容性，本文的一个重点是算法的复杂性。该方法使用软准连续体机械手作为协作机器人的示例进行了验证。为了确保目标硬件的实时兼容性，本文的一个重点是算法的复杂性。该方法使用软准连续体机械手作为协作机器人的示例进行了验证。为了确保目标硬件的实时兼容性，本文的一个重点是算法的复杂性。该方法使用软准连续体机械手作为协作机器人的示例进行了验证。