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Get Price2020-10-1 · As shown in Fig. 1, a robotic assembly process is divided into four phases: (a) Approaching phase, (b) Searching phase, (c) Moving phase, and (d) Orientating phase.The PiH is assembled by a robot following certain control strategies [61–63].The robot is equipped with sensors for images, forces, and contact states, and the feedback received by the sensors is processed and utilized in a closed ...
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