Automatic Robot Programming by visual Demonstration of Task Execution

We propose a novel approach to program a robot by demonstrating the task multiple number of times in front of a vision system. The system analyzes the visual data captured during the demonstration of the task by a human operator and produces manipulator level commands, so that the robot can replicate the task. Here we integrate human dexterity with sensory data using computer vision techniques in a single platform. This paper describes a fast and efficient algorithm for the vision system to process a binocular video sequence to obtain the trajectories of each component of the end-effector. The concept of trajectory bundle is introduced to avoid singularities and to obtain an optimal path. Keywords: Automatic robot programming, trajectory bundle, feature tracking, optimal path, singularities. I. Introduction Most of today's robots lack the ability to perform satisfactorily, where the object to be manipulated normally exhibit high degrees of variability. Developing a flexible robot ma..