A Task Teaching Method for Pan-flipping to Collaborative Robot

This paper proposes a teaching method that can generate the robot trajectory for the pan-flipping task. Although various teaching interfaces are developed, they have limits to be used for teaching dynamic motion such as pan-flipping. In this study, the safe robot geometric path can be obtained by the kinesthetic teaching method, and it can be time-parameterized using dynamic time warping (DTW) and non-rigid registration from the intuitive human demonstration. The feasibility of the proposed method was verified with a 6-DOF robot manipulator.