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Arc-length based Two-step Robot Motion Teaching Method for Dynamic Tasks

In this study, a new robot motion teaching method is proposed for dynamic robotic tasks. In the proposed teaching framework, the path geometry definition and timeparametrization process are separated. For the path geometry definition, waypoint-based teaching is used to secure motion accuracy and safety, and teaching-by-teleoperation is used to extract intuitive human motion easily. The direct motion dynamics transfer algorithm is developed to project the human motion dynamics into the pre-defined motion path according to the normalized arc-length of two different paths. The overall teaching procedure is empirically validated with a 6 DoF collaborative robot, and the result shows that the dynamic motion like pepper sprinkling can be easily taught by setting waypoints and swing handheld motion controller. This study suggests an intuitive and practical robot motion teaching method especially powerful for the dynamic robotic tasks.