I have a 10kg payload robot and a 6kg peg.
The tolerance is H7g6 so the clearance is 0.01 mm for a 35mm diameter .
Insertion length 30mm aprox.
Taranjitsingh Singh
Hello Juanjo,
A really good controller would be to use a hybrid Force/Position control scheme. And, this is the suitable state of the art Robot Controller for such an assembly application.
You can refer the book in the link given.
Also, you can go through one of the publication with the link given.
I hope this answers your question.
http://eu.wiley.com/WileyCDA/WileyTitle/productCd-EHEP000518.html
Article Hybrid Position/Force Control of Manipulator
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