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This paper deals with the control of two industrial robots performing a parts mating task of peg-in-hole type. The robot carrying the peg is commanded in the native programming language, while the robot holding the hollow part is controlled to behave as a six-degree-of-freedom spatial mechanical impedance. A programmable compliant behaviour is achieved so as to compensate for unavoidable task planning imperfections. A number of experiments are worked out on the setup available in the laboratory, and the results are illustrated and critically discussed.
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Caccavale et al. (2002) studied this question.
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