Robot trajectory learning by demonstration with probe sensor

A robot learning system for trajectory learning of an associated robot comprising a robot arm between a base and a tool center point, by demonstration from a user, the system comprising:

• a user interface configured for connection to a controller of the robot, so as to allow the user to control the robot arm in order to follow a desired trajectory during a real-time learning session, wherein the user interface comprises at least a first control element for being operated by the user, and being configured to control position in space of the tool center point of the robot,
• a probe sensor configured to be mounted on the tool center point during the real-time learning session, wherein the probe sensor is configured to measure a distance parameter indicative of distance from the tool center point and a surface forming the trajectory to be followed and an orientation parameter indicative of orientation of the tool center point and the surface forming the trajectory to be followed, and wherein the probe sensor (PS) is configured to continuously generate one or more signals corresponding to said distance and orientation parameters, and wherein said one or more signals is provided as a feedback to the controller of the robot during the real-time learning session, and
• a processor configured to log data in response to the user's operation of the at least first control element during the real-time learning session, or continuously logging data at a predetermined sample rate, so as to allow later control of the robot in response to the data logged during the learning session.