Robot Screwdriving Faults: Separate Screw Pickup, Hole Entry and Seating
Separate screw pickup, transfer retention, hole entry and seating so a staged trial identifies which interface needs correction.
Pin-Rack Dipping Cycle Planning: Count Fixture Transfers Before Capsule Output
Estimate pin-rack handling and downstream acceptance separately, using an explicit fixture-capacity example rather than finished-capsule claims.