Compliant control of threaded fastener insertion

@article{Nicolson1993CompliantCO,
  title={Compliant control of threaded fastener insertion},
  author={Edward J. Nicolson and Ronald S. Fearing},
  journal={[1993] Proceedings IEEE International Conference on Robotics and Automation},
  year={1993},
  pages={484-490 vol.1}
}
Controlled compliance and accommodation matrix techniques are considered for robust insertion of threaded fasteners. Errors in translation positioning are shown to be easily corrected. Errors in the angle of tilt between the threaded parts are shown to be much more difficult to correct. They are shown to constrain the region of convergence for simple linear techniques.<<ETX>> 

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