The last millimeter of assembly is where precision fails. No sensor and no arm is perfect, so a part almost never lines up exactly with its socket. Command it to a fixed position and any misalignment drives it into the chamfered rim, the force spikes, and it jams. The fix is not more precision, it is compliance: command a gentle insertion force and let the part move sideways when it touches the chamfer, so the geometry itself guides it to center. This is the same force-closure idea as grasping, applied to mating parts. It is why servicing and assembly robots are force-controlled, not position-controlled, and why the same autonomy that captured the satellite can also repair it.