compliant motion

Page numbers are for draft copy at present; they will be replaced with correct numbers when final book is formatted. Chapter numbers are correct and will not change now.

It is hard for a robot (or human) to precisely fit a close fitting part. Compliant motion makes use of parts that deliberately allow some initial inaccuracy (for example bolts with a tapered end) and pressure feedback so that parsts can be placed in the approxmate position and then adjusted by sliding or twisting.

Used on Chap. 15: pages 359, 363, 365, 366