The author expands on some recent results for more generalized insertions in robotics to develop and analyze a passive mechanism capable of inserting arbitrary convex shaped parts. He implemented the strategies of H. Inoue (1979) and S. Simunovic (1979) on a system comprised of commercially available components (a PUMA 560 robot and an Astek six-axis force-torque sensor). It was not possible to use either of these strategies to insert parts of even modest clearance due to the requirements for precision in force sensor measurements and in position measurements at the end of guarded moves. The author was successful, however, in using force-servoing of the PUMA to implement a remote center of compliance. With the PUMA and a servo-based remote center of compliance, he was able to insert chamfered 1 in. pegs with clearance of 0.001 in.>

It is shown that there is a family of control strategies that result in swing-free movement of objects suspended from a movable point (e.g. a bridge crane). While it is possible to control the swing with acceleration periods of arbitrary length, it is necessary in that case to know the period of the suspended object, which requires knowledge of the location of the object's center of mass. In a practical application of this result, the best strategy is to build a sensing system into the bridge and crane hook that allows the crane to recognize when the hook is directly below its support point. The control strategy is then to accelerate for one full period, which is recognized when the hook returns to the point directly below its support point. If the bridge continues to move at this velocity, the suspended object will not swing. To stop in a swing-free state, the crane begins to decelerate at the same rate as it accelerated, starting at a distance from its goal equal to the distance traveled while accelerating.>

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.>