Experimental analysis of assembly strategies with a force-controlled two-arm robot

Force control is often necessary for performing complex robotic tasks, such as grinding, contour following or part mating. On the other hand, two-arm systems are very useful to achieve tasks such as manipulating cumbersome or heavy objects. The authors look at those two aspects of robotics and deal with the many problems related to the assembly of two objects with two arms (with one object per arm). In particular, they propose a force control scheme for such a task, which has been implemented on a real experimental setup. Various assembly strategies have then been experimented. The most important results and conclusions are given