Dynamically reconfigurable robotic system. Assembly of new type cells as a dual-peg-in-hole problem

In this paper, the authors first introduce a new type cell (module) of a self-organizing manipulator and present a method for assembling this type of cell using manipulators. Since the new type of cell has two guides for connection, it can also be considered as a dual-peg-in-hole configuration. To obtain an effective assembly sequence of cells, the authors observe the sequence of work and record force/torque data as well as psychological data of the people performing the same work. By analyzing the results of the experiment, they obtained a reasonable sequence for performing such work. They apply this result to the assembly of cells using a camera coordinated with a force/torque sensor. The analysis of force and geometric conditions in the dual-peg-in-hole configuration, and the results of experiments are also presented