The experimental setup we built can carry out assem-bly operation in arbitrary direction in an average time of 1.8 seconds,even under the condition of uncham-fered parts.

• 整个系统由一台 IBM-PC 计算机通过 C 语言和宏指令进行控制；根据力反馈进行搜索孔和插孔；可以完成沿任意方向的精密装配操作.；平均装配时间1