A variety of robot programming techniques exists ranging from constraint based over skill based programming to learning by demonstration. In order to extend their applicability propose to join some of these approaches. We therefore combine visual CAD based programming with skill based programming through demonstration. This constitutes the basis of the outlines strategy. We then employ human feedback through hand gestures for incremental parameter modification. We propose this approach in order to potentially lower times to production for new products and allow efficient use of robotics in low lot-sizes especially in the context of assembly for construction.
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