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This paper provides an carried out method of part-mating of three-d non-cylindrical elements with a 6 DOF manipulator, contemplating uncertainties in modeling, sensing and regulate. The middle of the proposed answer is a reinforcement studying set of rules for choosing the activities that in attaining the objective within the minimal variety of steps. place and strength sensor values are encoded within the kingdom of the process through a neural community. Experimental effects are offered for the insertion of other elements – round, quadrangular and triangular prisms – in 3 dimensions. The process indicates sturdy generalization functions for various shapes and site of the assembled components. those effects considerably expand lots of the prior achievements in wonderful movement initiatives, which regularly version the robotic as a polygon translating within the aircraft in a polygonal surroundings or don't current genuine carried out prototypes.

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