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Sample Applications for the Usage of Manipulation Primitives

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Assembling a Lamp into a Bayonet Socket


As example for an assembly task the insertion of a lamp into a bayonet socket is shown in the video (DivX [1.7 MB] or Windows Media [10.4 MB]) Because the lamp has to fit into the notches of the socket, this application constitutes an advanced peg-in-hole task: First the notches have to be found, secondly the lamp is inserted (peg-in-hole) until a spring is fully compressed, thirdly the lamp is rotated, and finally it pulled up and the gripper is opened.

Further information may be found in our Publications. In case of any further questions please contact Daniel Kubus.

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