Force Feedback in Precise Assembly Tasks,
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
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This paper describes the execution of precise assembly tasks by a robot. The level of performance of the experimental system allows such basic actions as putting a peg into a hole, screwing a nut on a bolt, and picking up a thin piece from a flat table. The tolerance achieved in the experiments was 0.001 inch. The experiments proved that force feedback enabled the reliable assembly of a bearing complex consisting of eight parts with close tolerances.
- Manufacturing and Industrial Engineering and Control of Production Systems