Dual arm robot for flexible and cooperative assembly

Dual-arm robots provide efficient approach for automated execution of complex assembly operations. With bimanual-manipulation, a dual-arm robot can simultaneously control relative motion and interaction of assembly counterparts in a dexterous human-like manner. This requires, however, sophisticated programming and control algorithms for arms cooperation. This paper addresses the development of an advanced industrial dual-arm robot system with novel capabilities, such as easy and rapid commissioning, compliance control of bimanual interaction in all assembly process phases, as well as intuitive planning and programming. The robot can be leased and easily integrated in assembly environment sharing the same workspace with human workers. (C) 2011 CIRP.