Method of Constructing the Assigned Trajectory of a Multi-link Manipulator Based on the “Programming by Demonstration” Approach

The article discusses an approach to the construction of control of an anthropomorphic (multi-link) manipulator of a robotic complex, based on applying the “Programming by Demonstration” approach. The proposed approach is based on the developed methodology for constructing a knowledge base based on the data obtained from the sensors of the copying suit as a result of training the robotic complex by the operator. The structure of the knowledge base and the data processing mechanism for filling it are given. An example of a procedure for averaging data obtained from a copying suit as a result of “training” a manipulator of a robotic complex is given. An approach to constructing the trajectory of a manipulator based on data from a knowledge base, based on the use of ideas of terminal control, is considered. In addition to the precise execution of the manipulator movements, the approach proposed in the article ensures the fulfillment of the initial and final conditions imposed on the manipulator movement. The proposed method allows organizing the control of manipulators of a robotic complex without building or using a complex and often not always accurate mathematical model. The developed technique was tested on the SAR-401 anthropomorphic robot.