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Rigid vs Compliant Peg-in-Hole Insertion

Interactive robotic assembly simulator: a rigid position-controlled arm and a compliant force-controlled arm insert the same misaligned peg into a tight-tolerance chamfered hole side by side — watch one jam and fault while the other senses contact force and wiggles into alignment.

Robotics & Kinematics3DModerate60 FPS

Tight-tolerance manufacturing assembly — such as inserting a precisely machined peg into a chamfered hole — is unforgiving of the small positioning errors that fixturing variation, part tolerances and calibration drift always introduce. This simulator runs two identical robot arms side by side against the exact same misalignment: one holds a rigid, high-stiffness position setpoint and jams against the hole's edge, its contact force climbing until a fault trips; the other senses contact force directly and yields laterally in response, letting the chamfer's geometry guide it into alignment while the force stays bounded. Adjust the misalignment and insertion speed to see how each control strategy responds to the same real-world imperfection.

⚙ Under the hood

Two identical robot arms insert the same misaligned peg into a tight-tolerance chamfered hole side by side: a rigid position-controlled arm holds its setpoint and jams against the hole edge with contact force climbing to a fault, while a compliant force-controlled arm senses that same contact force and yields laterally, wiggling into alignment along the chamfer to a safe, successful insertion.

RoboticsForce ControlCompliant AssemblyPeg-in-HoleImpedance ControlManufacturingIndustry 4.0Three.js

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install