Easy to use interface for Correcting Trajectory Profiles for Robot Machining

Using robots for machining processes such as grinding, polishing, brushing, and milling is becoming increasingly popular. However, getting the tool trajectories precise enough to achieve the desired process quality can be a challenge for the operator. In this paper, we present a method for adjusting a trajectory at a given location and for an interval with a midpoint at a given location where the operator just needs to provide an intuitive set of parameters such as location, length, direction, and size of the adjustment. The input and output of the correction method are trajectories in the NURBS representation.