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Related Concept Videos

Mechanical Systems01:22

Mechanical Systems

Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically described...

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Related Experiment Video

Updated: Jun 9, 2026

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
05:47

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

Published on: August 29, 2025

A staged vision-force collaborative framework for precision robotic insertion of metallic valve components.

Teng Wu1, Dong Zhang2, Bin Liu3

  • 1College of Machine, Shanghai Dianji University, Shanghai, 201306, People's Republic of China.

Scientific Reports
|June 7, 2026
PubMed
Summary

This study introduces a staged vision-force collaborative framework (SVFC) to improve robotic insertion of metallic components. The SVFC framework enhances success rates and reduces insertion time by integrating vision for alignment and force feedback for precise contact regulation.

Keywords:
Metallic valve componentsPrecision robotic insertionResidual pose correctionRobotic assemblyStaged vision–force collaborationVariable-parameter admittance control

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Computer Vision

Background:

  • Precision robotic insertion of metallic components faces challenges due to visual sensing limitations like specular reflection and occlusion near the insertion point.
  • Residual pose errors from vision-based localization can lead to impacts, jamming, and insertion failures during metallic component assembly.
  • Existing methods struggle with the transition from vision-guided alignment to contact-based manipulation, impacting reliability.

Purpose of the Study:

  • To develop and evaluate a staged vision-force collaborative framework (SVFC) for robust and precise robotic insertion of metallic valve components.
  • To address the limitations of vision-only or force-only approaches by creating a synergistic sensing strategy.
  • To improve the success rate, efficiency, and safety of robotic insertion tasks involving metallic parts.

Main Methods:

  • The proposed SVFC framework employs a staged approach: vision-guided coarse alignment, force-guided residual pose correction using an Archimedean spiral trajectory, and compliant insertion with variable-parameter admittance control.
  • Vision is utilized to reduce global pose errors to a localized, force-controllable region.
  • Force feedback is then employed for fine centering and regulating contact forces, adapting stiffness and damping based on real-time contact states.

Main Results:

  • Experiments demonstrated that the SVFC method significantly improves insertion success rates for both clearance-fit and interference-fit tasks.
  • The framework reduced overall insertion time compared to baseline methods.
  • Peak contact forces during insertion were lowered, indicating a smoother and more controlled process.

Conclusions:

  • The staged vision-force collaborative framework (SVFC) effectively overcomes the limitations of purely vision-based or force-based control for metallic component insertion.
  • Explicit coordination between vision-dominant alignment and force-dominant contact regulation is crucial for successful and efficient robotic assembly.
  • The SVFC approach offers a promising solution for complex robotic manipulation tasks requiring high precision and adaptability to contact dynamics.