In order to assemble parts, the forces of the assembly movement have to be controlled. In the JILAS experiment this is done via a force sensor mounted at the wrist of the robot.

Different controller strategies were discussed and assessed for their use in the contact task during the assembly of the airplane components.

==> see here and here for a demonstration of two different algorithms. In the first video you see the robot laying down a part. The second video shows a simple force controlled assembly of two parts. Both movements are controlled by the use of the force sensor signals.