Purpose The purpose of this paper is to develop a vision-based dual-arm cyclic motion method, focusing on solving the problems of an uncertain grasp position of the object and the dual-arm joint-angle-drift phenomenon. Design/methodology/approach A novel cascade control structure is proposed...

Purpose Robot-assisted system for minimally invasive surgery (MIS) has been attracting more and more attentions. Compared with a traditional MIS, the robot-assisted system for MIS is able to overcome or reduce defects, such as poor hand-eye coordination, heavy labour intensity and limited motion...