This paper focuses on the simplification of the on-line programming process of industrial robots. It presents in detail the input part of a modular on-line programming environment presented as overview in [1]. Main concept of this programming environment is an intuitive way of moving and teaching robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Goal is the combination of different approaches from tele-operation, programming by demonstration, Virtual Reality and off-line programming, and to reuse them in a new fashion on-line on the shop-floor. This paper presents some ideas and concepts, how input devices and strategies for robot programming could look like and how to use them to set up an intuitive manual motion control of the robot.
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