A Cooperative Assembly System Using Two Manipulators with Precise Positioning Devices

Abstract This paper proposes an assembly system with double industrial manipulators. Each manipulator consists of precise and coarse positioning devices. Compliance is introduced to accommodate positioning errors between the double manipulators. A cooperative control scheme for the two manipulators is studied. The results of experiments verify the effectiveness of the proposed scheme. This system is well suited for assembly of large-sized parts.

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