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Best Practices and Performance Metrics Using Force Control for Robotic Assembly



Jeremy A. Marvel, Joseph A. Falco


Historically, mechanical assembly was predicted to be the dominant application domain of industrial robots; yet assembly tasks are still primarily addressed by manual labor. New advances in force control (FC), machine vision, and robot dexterity are enabling industrial robots, such as 4 to 7 degrees of freedom (DOF) arms and selective compliant assembly robot arm (SCARA) manipulators, to catch up with the original visions of robotic assembly. As this technology progresses, performance metrics and associated test methodologies are needed to unify research efforts, characterize the state of technology, and to provide a means for end-users to evaluate the capabilities of robotic assembly systems. This report describes the current state of force-controlled mechanical assembly, and highlights key robot technologies and algorithms that enable this utilization.
NIST Interagency/Internal Report (NISTIR) - 7901
Report Number


Ground Truth, 6DOF Metrology, Laser Tracker, Fixtures


Marvel, J. and Falco, J. (2012), Best Practices and Performance Metrics Using Force Control for Robotic Assembly, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed July 23, 2024)


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Created November 23, 2012, Updated November 10, 2018