The need for an intuitive teaching method for small and medium enterprises

Small and medium enterprises currently do not often use robots in their production; one reason is the complex handling, especially the time-consuming programming. Using the well known walk-through approach this drawback could be overcome. We discuss the defiances of this approach and present means of adapting trajectories by transforming them into sequences of geometric primitives. By means to interact these sequences they can get changed according to the specific task. A metric is developed based on triangulation of the trajectories. A gluing robot cell is presented using this technology.