Introduction
Up to now, industrial robots have drastically rationalized many kinds of manufacturing processes in industrial fields. The user interface provided by the robot maker has been almost limited to so-called teaching pendant. The teaching pendant is a useful and safe tool to obtain the position and orientation at the tip of a robot along a desired trajectory, but the teaching is very complicated and time-consuming task. In particular, when the target trajectory is a free curved line, many through points must be given to acquire a smooth trajectory; the task is therefore not an easy one.
This decade, open-architecture industrial robots as shown in Fig. 1 have been produced by several industrial robot makers in Japan such as KAWASAKI ...
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