The present invention provides a CNC-parameter generating method in an isometric projection environment for the control and processing of tubes by at least one CNC-tube bending machine at least comprising: i) to generate a first vector on a touch screen; ii) to carry out a verification step by a microprocessor, iii) to assign the first vector to one of the directions, NORTH, UP, WEST, SOUTH, DOWN and EAST; iv) to generate further vectors by tapping once on the touch screen; v) to input dimensional values for the vectors on the touch screen, and to transfer dimensional values from the microprocessor device to one or more computers. It is also provided a parameter generating system in an isometric projection environment for the control and processing of tubes by at least one CNC-tube bending machine.

A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.