  This paper aims at solving mass precise peg-in-hole assembly. First, a
feature space and a response space are constructed according to the relative
pose and equivalent forces and moments. Then the contact states are segmented
in the feature space and the segmentation boundaries are mapped into the
response space. Further, a feature-based compliance control (FBCC) algorithm is
proposed based on boundary mapping. In the FBCC algorithm, a direction matrix
is designed to execute accurate adjustment and an integrator is applied to
eliminate the residual responses. Finally, the simulations and experiments
demonstrate the superiority, robustness, and generalization ability of the
FBCC.
