impedance control

A control approach that regulates the dynamic relationship between a robot's motion and the forces it exchanges with its environment — making the end effectorend effector, n.: The tool at the end of a robot arm that actually touches the world, such as a gripper, suction cup, welding torch, paint sprayer or robotic hand. behave like a chosen mass–spring–damper system — instead of controlling position or force alone. Specifying stiffness, damping and apparent inertia lets a robot yield when it meets an obstacle, a person or a slightly misaligned part, so tasks with uncertain contact, such as peg-in-hole insertion, wiping, polishing, opening doors, foot contact in walking and physical cooperation with people, succeed without exact models or crushing forces. Impedance control commands forces in response to measured motion and suits torque-controlled, back-drivable robots; its dual, admittance control, commands motion in response to measured forces and suits stiff, position-controlled industrial arms fitted with a force sensor. Variable-impedance schemes change stiffness during a task, and learned policiespolicy, n.: An AI agent's strategy: the rule it follows to pick an action in each situation. Training in reinforcement learning means improving this rule until it earns high rewards. increasingly output impedance parameters along with target poses, which eases sim-to-real transfersim-to-real transfer, n.: Training a robot's AI in a computer simulation, where practice is fast, cheap and safe, and then making it work on the real robot despite the differences between simulation and reality..

Lower the stiffness for the insertion; the peg will find the hole by itself.