Skip to main content
. Author manuscript; available in PMC: 2019 May 9.
Published in final edited form as: IEEE Trans Autom Sci Eng. 2018;15:10.1109/TASE.2017.2720478. doi: 10.1109/TASE.2017.2720478

Fig. 7.

Fig. 7

Position-based robotic peg-in-hole insertions in (a) failed and (b) successful states. Small translational or rotational offsets result in peg-hole misalignments that prevent successful insertions.