There is a great demand for the robotization of manufacturing processes fea-turing monotonous labor. Some manufacturing tasks requiring specific skills (welding, painting, etc.) suffer from a lack of workers. Robots have been used in these tasks, but their flexibility is limited since they are still difficult to program/re-program by non-experts, making them inaccessible to most companies. Robot offline programming (OLP) is reliable. However, generat-ed paths directly from CAD/CAM do not include relevant parameters repre-senting human skills such as robot end-effector orientations and velocities. This paper presents an intuitive robot programming system to capture human manufacturing skills and transform them into robot programs. Demonstra-tions from human skilled workers are recorded using a magnetic tracking system attached to the worker tools. Collected data include the orientations and velocity of the working paths. Positional data are extracted from CAD/CAM since its error when captured by the magnetic tracker, is signifi-cant. Paths poses are transformed in Cartesian space and validated in a simu-lation environment. Robot programs are generated and transferred to the real robot. Experiments on the process of glass adhesive application demonstrat-ed the intuitiveness to use and effectiveness of the proposed framework in capturing human skills and transferring them to the robot.

翻译：对制造过程的机器人化需求很大,因为制造过程需要的是一劳永逸的一劳永逸的劳动。有些需要特定技能(焊接、绘画等)的制造任务缺乏工人。机器人在这些任务中被使用过,但其灵活性是有限的,因为非专家仍然难以编程/重新编程,使大多数公司无法编程/重新编程。机器人离线编程(OLP)是可靠的。但是,从CAD/CAM直接由基因改制的路径并不包括相关的参数代表人类技能,例如机器人终端效应方向和速度。本文展示了一个直观的机器人编程系统,以捕捉人类制造技能并将其转换为机器人程序。人类熟练工人的演示程序使用附属于工人工具的磁性跟踪系统记录。收集的数据包括工作路径的方向和速度。自磁轨追踪器捕获错误以来,从CAD/CAM直接提取了定位数据。路径在Carteian空间中被转换,在Simulate-laction 程序中被验证,在Simulational-laimal robal 程序中被转换为实际机器人应用的机器人程序,并被转换为机器人。