Advanced robot programming techniques often include free-drive teaching. Operators move arms and grippers by physically pushing them into the right position. The resulting points are then refined and used as part of more complex robot programs (i.e. code such as RAPID, KRL, PDL2, INFORM, AS, Karel, VAL3, or URScript).
The purpose of this master thesis is to explore the automatic recording of process models in standard BPMN, including possible interpolation detection, decisions, and precises gripper movement. The theses includes the creation of a software prototype, as well as possible complementary hardware prototypes. *vi* users preferred.
Contact: bachelor.i17 [at] in.tum.de