Trajectory planning method of the pot in cooking robot

As a teaching method, a dish movement model based on DEM is presented by the paper, and is then used as a bridge on the transformation of the demonstration trajectory to the planned trajectory regarding pot movement. Some indicators are introduced to evaluate the effect of the dish movement in the pot. The trajectories of the given mechanism are off-line designed, and then as the input to the model the indicators corresponding to each trajectory are got, and eventually a table of trajectories versus indicators is obtained. When teaching, the changes of the location and attitude of the pot are measured, and are then used as the input to the model to calculate the indicators, which are lastly matched with those in the table, and the trajectory corresponding to the best matched is taken as the teaching result. An example is showed at the end of the paper, and validates the method.