Apr 12, 2026 · 1 min read
A force-feedback robotic station for sub-millimeter assembly in constrained manufacturing lines.
This report documents a dual-arm manipulation stack using force sensing, visual servoing, and adaptive path correction.
The controller minimizes tracking error with:
$$u_t = K_p e_t + K_d (e_t - e_{t-1})$$
const control = kp * error + kd * (error - prevError);
Tracing executor behavior to reduce control jitter below 1.5 ms.
Task arbitration and collision-safe policies for synchronized picking robots.
Benchmark design for comparing SLAM backends across loop closures, drift, and compute budget.