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本文介绍一种在机器人轴孔装配中应用六维腕力传感器进行搜索找孔的方法，以及在ＡｄｅｐｔＯｎｅ装配机器人上进行实验研究的工作．
This article presents a method of searching for holes using a six-dimensional wrist force sensor in robot shaft assembly, as well as experimenting with AdeptOne robots.