Force Feedback in Precise Assembly Tasks

Abstract

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 experiments was 0.001 inch. The experiments proved that force feedback enabled a reliable assembly of a bearing complex consisting of eight parts with close tolerances. A movie of the demonstration is available.