An assembly task is an important part of a manu-facturing process. The use of robots in assembly entails theincrease of the productivity and quality of assembly opera-tions while allowing the performance of a vast range oftasks due to their flexibility. The consistency, speed andprecision of robots are the suitable characteristics to repeti-tive assembly tasks. However, precision assembly can bedifficult and complex when mating parts are not perfectlyaligned and this way leads to unsuccessful assembly.
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