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Reda Hanifi Elhachemi Amar
Université des Sciences et de la Technologie d’Oran
Computer Science & IT Electrical & Electronics Engineering

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Trajectory reconstruction for robot programming by demonstration Reda Hanifi Elhachemi Amar; Laredj Benchikh; Hakima Dermeche; Ouamri Bachir; Zoubir Ahmed-Foitih
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 3: June 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (598.787 KB) | DOI: 10.11591/ijece.v10i3.pp3066-3073

Abstract

The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.
Co-Authors Hakima Dermeche Laredj Benchikh Ouamri Bachir Zoubir Ahmed-Foitih