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Smooth path planning for intuitive teaching of 6-DOF manipulator tasks

This paper proposed a skill to smooth the trajectory for intuitive teaching of 6-DOF manipulator tasks. Firstly, the teaching zones, including the starting zone and ending zone, and safety zone are well defined for different applications. Then, the backtracking method is used to teach the corresponding tasks in the ending zone to guarantee the accurate positioning of target point. In addition, a cubic spline is applied to connect two discrete points which are the boundary of teaching zone. The proposed strategy make the intuitive teaching more efficient in the teaching process and more accurate in the target position.