摘要：AbstractThe paper presents programming by demonstration approach for industrial robots that uses two steps trajectory optimization. On the first stage, optimization is done by statistical methods, on the second stage, the robot end-effector trajectory is obtained based on minimization of energy consumption and task execution time criteria. We verified our approach using 7 degree-of-freedom redundant robot KUKA iiwa and Microsoft Kinect 2.0 motion capture system.
关键词：KeywordsProgramming by demonstrationTrajectory optimizationIndustrial robotRedundant manipulator
