Programming of a robotic arm using a motion capture system

A system comprising:

• a robotic device;
• and
• a control system configured to:
• cause the robotic device to move a robot tool using one or more robot movements of a replication control path, wherein the one or more robot movements of the replication control path cause the robotic device to move the robot tool through a motion path that corresponds to a predetermined motion path of a demonstration tool;
• receive position data indicative of position of the robot tool during movement of the robot tool by the robotic device;
• compare the position data to the predetermined motion path of the demonstration tool;
• and
• based on the comparison, determine a refinement to the one or more robot movements of the replication control path.

A non-transitory computer readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:

• causing a robotic device to move a robot tool using one or more robot movements of a replication control path, wherein the one or more robot movements of the replication control path cause the robotic device to move the robot tool through a motion path that corresponds to a predetermined motion path of a demonstration tool;
• receiving position data indicative of position of the robot tool during movement of the robot tool by the robotic device;
• comparing the position data to the predetermined motion path of the demonstration tool;
• and
• based on the comparison, determining a refinement to the one or more robot movements of the replication control path.