The thesis presents the robotization of checking the quality of gear shafts. It describes the requirements, solutions and the problem of robotic insertion of shafts into a caliber. The work verifies the feasibility of robotic insertion on the basis of two solutions that are robot active compliance control without the use of external force sensor and robot active compliance control using external force sensor. The process included the manufacture of a robotic cell and the development and testing of robot programs for automatic shaft insertion in the control calibers. In the work there are also given measurements and test results, and the conclusions of the proposed solutions.
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