Mathematical contact state modeling and spiral search algorithms preventing mechanical binding during tight-clearance parts mating.
When inserting components with clearances below 10 micrometers, positional errors cause contact forces that can crush delicate parts. AssemblerSwarm modulates robot velocity dynamically according to measured contact forces, mimicking human mechanical touch.
If parts misalign during initial approach, the end-effector initiates an Archimedean search spiral with 5-micrometer radial increments, sensing the moment of entry via an abrupt drop in normal contact forces.