Purpose Sensorless passive lead-through programming (LTP) is a promising physical human-robot interaction technology that enables manual trajectory demonstrations based on gravity and friction compensation. The major difficulty lies in static friction compensation during LTP start-up. Instead of...

Purpose The purpose of this paper is to enhance control accuracy, energy efficiency and productivity of customized industrial robots by the proposed multi-objective trajectory optimization approach. To obtain accurate dynamic matching torques of the robot joints with optimal motion, an improved...

Purpose There is an increasing popularity for the continuum robot in minimally invasive surgery owing to its compliance and dexterity. However, the dexterity takes the challenges in loading and precise control because of the absence of the shape tracking for the continuum robot. The purpose of...

Purpose Continuum manipulators are often used in complex and narrow space in recent years because of their flexibility and safety. Vision is considered to be one of the most direct methods to obtain its spatial shape. However, with the improvement of the cooperation requirements of multiple...