<title>A Control Law For The Insertion Of A Flexible, Cylindrical Peg Using A Robot</title>

Abstract

This paper describes the mechanical behaviour of a flexible, cylindrical peg during it's insertion. Three cases are examined according to the displacement of the contact points. In each case, a jamming criterion is given and the state of the peg is determined using only the informations of the positionning system and the force sensor of the robot. The control law for the insertion is deduced from this analysis.