Purpose: The purpose of this paper is to present a simple yet effective force control scheme for collaborative robots by addressing the problem of disturbance rejection in joint torque: inherent actuator flexibility and nonlinear friction. Design/methodology/approach: In this paper, a joint...

Purpose The purpose of this study is to solve the problems of poor stability and high energy consumption of the dynamic window algorithm (DWA) for the mobile robots, a novel enhanced dynamic window algorithm is proposed in this paper. Design/methodology/approach The novel algorithm takes the...