Robot end effector
Related papers: 20
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A robot end effector is the device or tool mounted at the terminal link of a robotic manipulator — the component that directly interacts with the environment, objects, or tasks at hand. Common examples include grippers, welding torches, surgical probes, harvesting claws, and soft robotic hands designed for delicate biological sampling. In robotics and AI, end effectors are central to manipulation: controlling their position, orientation, velocity, and contact forces is the primary objective of most robot motion planning and control frameworks, from hybrid position/force control to visual servoing and impedance control. Researchers evaluate end effector performance through metrics such as manipulability and dynamic dexterity, and work to maximize accuracy, adaptability, and safety during human-robot interaction. End effectors matter because they define what a robot can ultimately accomplish — whether performing brain surgery with millimeter precision, harvesting fragile crops in greenhouses, or collaborating safely alongside human workers. Advances in end effector design and control directly expand the range, reliability, and safety of robotic applications across manufacturing, medicine, agriculture, and exploration.
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Top Cited Papers
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Oussama Khatib
Citations: 7533 • 1986
A unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib
Citations: 2917 • 1987
Manipulability of Robotic Mechanisms
Tsuneo Yoshikawa
Citations: 2516 • 1985
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Oussama Khatib
Citations: 1557 • 1986
Time-Optimal Control of Robotic Manipulators Along Specified Paths
J.E. Bobrow, Steven Dubowsky, J.S. Gibson
Citations: 1301 • 1985
A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
Y. S. Kwoh, Jung-Fu Hou, Edmond Jonckheere, S. Hayati
Citations: 1257 • 1988
Soft Robotic Grippers for Biological Sampling on Deep Reefs
Kevin C. Galloway, Kaitlyn P. Becker, Brennan Phillips, Jordan Kirby, Stephen Licht, Dan Tchernov, Robert J. Wood, David F. Gruber
Citations: 822 • 2016
A Stewart Platform- Based Manipulator: General Theory and Practical Construction
E. F. Fichter
Citations: 794 • 1986
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
Alessandro De Luca, Alin Albu‐Schäffer, Sami Haddadin, Gerd Hirzinger
Citations: 763 • 2006
Relative end-effector control using Cartesian position based visual servoing
W.J. Wilson, Carol Hulls, Gregory Bell
Citations: 621 • 1996
Inertial Properties in Robotic Manipulation: An Object-Level Framework
Oussama Khatib
Citations: 533 • 1995
Dynamic hybrid position/force control of robot manipulators--Description of hand constraints and calculation of joint driving force
Takuma Yoshikawa
Citations: 475 • 1987
A new partitioned approach to image-based visual servo control
Peter Corke, Seth Hutchinson
Citations: 464 • 2001
Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction
Fanny Ficuciello, Luigi Villani, Bruno Siciliano
Citations: 436 • 2015
Development of a sweet pepper harvesting robot
Boaz Arad, J. Balendonck, R. Barth, Ohad Ben‐Shahar, Yael Edan, Thomas Hellström, J. Hemming, Polina Kurtser, Ola Ringdahl, Toon Tielen, Bart van Tuijl
Citations: 432 • 2020
A depth space approach to human-robot collision avoidance
Fabrizio Flacco, Torsten Kröger, Alessandro De Luca, Oussama Khatib
Citations: 418 • 2012
Configuration control of redundant manipulators: theory and implementation
H. Seraji
Citations: 414 • 1989
An Autonomous Robot for Harvesting Cucumbers in Greenhouses
E.J. van Henten, J. Hemming, B.A.J. van Tuijl, J.G. Kornet, Jos Meuleman, J. Bontsema, E.A. van Os
Citations: 412 • 2002
ARMin III – Arm Therapy Exoskeleton with an Ergonomic Shoulder Actuation
Tobias Nef, Marco Guidali, Robert Riener
Citations: 404 • 2009
Design and control of an apple harvesting robot
Jidong Lv, Wei Ji, Ying Zhang, Yu Chen
Citations: 382 • 2011