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Feature based direct teaching trajectory correction

Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. However, teaching data by human hand cannot help having large noise error ranged low and high frequency. To use teaching data, post processing to correct teaching trajectory are required. Here, the novel shape-based trajectory correction method to rebuild teaching data with the feature information of curvature and velocity is proposed. The proposed method is tested on the square and circle object.