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Abstract. Mechanically attached blanket module insertion tests were
carried out considering the misalignment between module and back plate.
Through the insertion tests, the module was successfully inserted up to the
misalignment of ±10 mm under the clearance of ±0.16 
±0.18
mm between key and groove. This was achieved by the passive compliance due
to the flexibility of the manipulator through 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
gages located at the end-effector was found to be useful in order to
estimate the forces of the complicated end-effector during module insertion
for the development of the sensor based control.
IAEA 2001
