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evidence: In robotics , a Remote Center Compliance , Remote Center of Compliance or RCC is a mechanical device that facilitates automated assembly by preventing peg-like objects from jamming when they are inserted into a hole with tight clearance .. robotics. robotics. In a naive design without an RCC , a robot might pick up a peg with its gripper , center the peg over the hole and then push the peg along the axis of the hole .. gripper. Robot end effector. If the peg is perfectly aligned and centered , it would then slide into the hole .. However if the peg 's alignment or centering is slightly off , the peg contacts one side of the hole first and the peg 's tip experiences a lateral force .. As the robot 's gripper is not perfectly stiff , the peg will tend to rotate about an axis in the plane of the gripper 's fingers , called the center of compliance .. gripper. Robot end effector. stiff. stiffness. Such a rotation further misaligns the peg , increasing the lateral force and causing more rotation , resulting in a jam that prevents the insertion from being completed .. An RCC changes the way the peg responds to a lateral force at its tip .. The RCC is typically placed between the robot 's wrist and the gripper , though it can be built into the gripper itself .. gripper. Robot end effector. The RCC lets the gripper assembly move in the plane perpendicular to the peg 's axis , allowing the peg to rotate about an axis in the plane of the top of the hole , effectively moving the center of compliance from the gripper to the hole .. gripper. Robot end effector. With the RCC , the forces generated by any misalignment move the peg in a way that corrects the problem , rather than exacerbate it .