Purpose Collaborative robots (cobots) are widely used in various manipulation tasks within complex industrial environments. However, the manipulation capabilities of cobot manipulation planning are reduced by task, environment and joint physical constraints, especially in terms of force...

Purpose: The purpose of this paper is to search the optimal arrangement scheme of random motion accuracy of joints for optimal synthesis of pose repeatability which can make robot design more reasonable and reduce the development cost of robots. Design/methodology/approach: In this paper, a...