Insertions using geometric analysis and hybrid force-position control: method and analysis

Techniques based on active compliance implemented with hybrid force-position control are presented which are capable of inserting a wide variety of shaped pegs. The forces encountered during the insertions are analyzed to determine what classes of shapes these techniques will consistently insert. The analysis also gives guidance in selecting parameters of these techniques for specific shapes. Particular attention is given to polygonal, convex polygonal, and smooth convex parts