Preparing the published article.
Force control and compliant assembly: when it works
Compliance is not a universal fix; it has clear preconditions.
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.