Purpose This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working...

The interfacial surface activity of a protein, ovalbumin (OVA) at bare air/water interface in presence and also in absence of electrolyte (KCl) in subphase has been investigated. The surface activity was measured as a function of time. It has been found that, the presence of KCl in aqueous...