Force/torque sensor, apparatus and method for robot teaching and operation

A method of training a robotic manipulator system, the method comprising:

• providing a force/torque sensor at or near an end effector of the robotic manipulator system;
• and
• applying navigating forces to said sensor and using signals from said sensor to pilot the end effector into one or more engagement positions during a training or learn mode to define motion of the robotic manipulator system during task operation,
• wherein said sensor is mounted between said end effector and said robotic manipulator system, said navigating forces being applied to said end effector, an accelerometer is used to measure an orientation or acceleration of said end effector, and said signals of said sensor while navigating forces are applied are corrected using the measured orientation or acceleration of the end effector.