... characteristics of a robotic arm, and satisfy boundary conditions, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Finally, an arbitrary verification trajectory was planned using the IPSO to verify the accuracy...

...Kang Min; Fenglei Ni; Hong Liu Purpose The purpose of the paper is to propose an efficient and accurate force/torque (F/T) sensing method for the robotic wrist-mounted six-dimensional F/T sensor based on an excitation trajectory. Design/methodology/approach This paper presents an efficient...