. Author manuscript; available in PMC: 2018 Feb 27.

Published in final edited form as: ACM Comput Surv. 2018 Jan 1;51(1):14. doi: 10.1145/3150225

Table 1.

Table of Common Variables, Inputs, and Outputs for the Generalized Assembly Search Strategies

VARIABLE	DEFINITION
p₀ = (x₀,y₀,z₀,rx₀,ry₀,rz₀)	TCP position at the beginning of the search
p_Δ = (x_Δ,y_Δ,z_Δ,rx_Δ,ry_Δ,rz_Δ)	Computed TCP position offset
c	Iteration counter/time step
f	Update frequency
t	Total length of search (angular or linear)
s	Search speed
c_local	Internal counter for search state indication
θ_Δ	Angular change per time step
M	Applied moment (torque)
F	Applied torque
g	Points of contact with an assembly artifact
f	Forces measured at points of contact