The paper aims to propose an assembly scheme based on master–slave coordination for a compliant dual-arm robot to complete a peg-in-hole assembly task.
The proposed assembly scheme is inspired by the coordinated behaviors of human beings in the assembly process. The left arm and right arm of the robot are controlled to move alternately. The fixed arm and the moving arm are distinguished as the slave arm and the master arm, respectively. The position control model is used at the uncontacted stage, and the torque control model is used at the contacted stage.
The proposed assembly scheme is evaluated through peg-in-hole assembly experiments with different shapes of assembly piece. The round, triangle and square assembly piece with 0.5 mm maximum clearance between the peg and the hole can be assembled successfully based on the proposed method. Furthermore, three assembly strategies are investigated and compared in the peg-in-hole assembly experiments with different shapes of assembly piece.
The contribution of this study is that the authors propose an assembly scheme for a compliant dual-arm robot to overcome the low positioning accuracy and complete the peg-in-hole assembly tasks with different shapes parts.
