An approach to force controlled robot programming by human demonstration is presented. A human operator utilises a joystick to guide a robot with a force sensor to do a task including continuous contact between a manipulated object and an un-modelled environment. During the demonstration, the position, velocity and force of the object manipulated are acquired. Then the recorded data are processed, analysed, and translated into a textual robot program, which provides more robust execution in the presence of uncertainties. This approach consists of three key techniques-data processing, subtask segmentation and termination condition identification. A software package is developed to generate the programs automatically. Experiments show the industrial applicability.
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