Force control and compliant assembly: when it works

Principle

Sense contact force through a sensor or current estimation, then modulate position and speed for insertion or fitting.

Preconditions

Stable part location, predictable contact direction, sensible compliance parameters; tight clearances cause repeated probing.

Validation

Run 200+ consecutive assemblies on the same batch and record success rate and cycle time before scaling.

Method note: no vendor endorsement. Where public sources are cited, verify against the publisher's original text.