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A Unified Dynamic Force Guidance Framework for Performance-Optimized Kinesthetic Teaching

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Collaborative robots are increasingly deployed in industrial scenarios characterized by frequent product changeovers. As an intuitive programming method, kinesthetic teaching facilitates rapid robot deployment. However, users may overlook the configuration of the robot during kinesthetic teaching, leading to degradation in operational performance. Operational performance refers to the capability of the robot to generate motion and can be quantified by the Minimum Singular Value of the Jacobian matrix. To address this issue, this paper proposes an online dynamic force guidance method that integ

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