  Complex and skillful motions in actual assembly process are challenging for
the robot to generate with existing motion planning approaches, because some
key poses during the human assembly can be too skillful for the robot to
realize automatically. In order to deal with this problem, this paper develops
a motion planning method using skillful motions from demonstration, which can
be applied to complete robotic assembly process including complex and skillful
motions. In order to demonstrate conveniently without redundant third-party
devices, we attach augmented reality (AR) markers to the manipulated object to
track and capture poses of the object during the human assembly process, which
are employed as key poses to execute motion planning by the planner. Derivative
of every key pose serves as criterion to determine the priority of use of key
poses in order to accelerate the motion planning. The effectiveness of the
presented method is verified through some numerical examples and actual robot
experiments.
