Mechanically attached blanket module insertion tests were carried out for various misalignments between the module and the back plate. In the insertion tests, the module was successfully inserted up to a misalignment of ±10 mm with a clearance of ±(0.16-0.18) mm between key and groove. This was achieved owing to the passive compliance due to the flexibility of the manipulator with the assistance of the chamfer configuration of the key for smooth insertion. In addition, the 'correlation coefficient' based on the results obtained by the strain gauges located at the end effector was found to be useful for estimating the forces of the complex end effector during module insertion for the development of sensor based control.
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