Integrated object and path demonstration for industrial robots in adaptive handling applications

We propose an approach for integrated object and path demonstration. The main idea is to choose the motion of the robot depending on the object it grabs. When programming, an object is fixed at the robot´s gripper. Path programming is done using haptic guidance. Afterwards, if a robot is handed over an object it knows before, it reproduces the path assigned to the object. Path programming and object recognition can be done with a single force/torque sensor. In our opinion, this way of programming is especially suited for creating pick and place tasks in frequently changing production environments where (re-)programming has to be done frequently.