Self-corrective nut running for robotic applications

A method for position correction of a machine relative to a work piece. The machine may be provided with an end effector. The work piece may be engaged with the end effector. A force or a moment resulting from engaging the work piece with the end effector may be measured. A pose error may be determined from the force and/or the moment, wherein the pose error may define a misalignment of the end effector. The end effector may be repositioned an amount equal to the pose error to correct the misalignment. One application may involve torqueing nuts with a nut runner, which may be accomplished through the use of an automated machine such as a robot. 种用于机器相对于工件的位置校正的方法。机器可以设有端部操纵装置。工件可以与端部操纵装置接合。由工件与端部操纵装置接合产生的力或力矩可以被测量。从所述力和/或力矩可以确定位姿误差，其中，所述位姿误差可以限定端部操纵装置的不对准。端部操纵装置可以被重新定位等于所述位姿误差的量以校正不对准。种应用可以涉及利用螺母扳手扭转螺母，这可以通过使用诸如机器人的自动化机器来实现。