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Cylindrical Peg-In-Hole assembly has been the benchmark force-controlled robotic assembly. It involves two main stages. The first one aims at placing the peg center within the clearance region of the hole center, known as the search phase. The next step is to correct the orientational misalignment, known as the insertion phase. The insertion has been widely(More)
Various robotic tasks (e.g. polishing, deburring gluing, etc.) require a tool to be moved over some unknown surface with a constant force applied as well as keeping the orientation of the tool normal to the surface. While performing such fine motion control with a position-controlled industrial robot, it is required to sense the forces and accordingly(More)
Industrial robots are primarily position controlled, so they can be used for pick-and-place operations in structured environments, where the entire motion sequence can be programmed in advance. However, when equipped with a force-torque sensor, such a robot is capable of performing tasks that require adaptation to the environment, e.g., assembly operations,(More)
— The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also(More)
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