Programmed compliance for error corrective assembly

The following problem is addressed. Suppose that before an assembly task commences, one can specify at will the manipulator´s response to assembly forces by providing a single compliance (or damping) matrix to be used for the duration of the operation. Can one choose the matrix elements so that the force that characterizes every possible error condition maps into a motion that reduces it? If so, it is assured that the operation will evolve toward decreased errors and eventual success. A framework and a method of synthesis for an error-corrective matrix are described