  The concept of dynamical movement primitives (DMPs) has become popular for
modeling of motion, commonly applied to robots. This paper presents a framework
that allows a robot operator to adjust DMPs in an intuitive way. Given a
generated trajectory with a faulty last part, the operator can use lead-through
programming to demonstrate a corrective trajectory. A modified DMP is formed,
based on the first part of the faulty trajectory and the last part of the
corrective one. A real-time application is presented and verified
experimentally.
