Control strategy for simultaneously inserting multiple boxes with dual arm manipulator

This paper presents a control strategy for simultaneously inserting multiple cellphone unit boxes into one master box by using a dual arm manipulator. The box insertion strategy is developed based on force control and task planning. The dual arm manipulator knows the approximate location of the unit boxes and master box and smoothly executes its task with error tolerance. This strategy exploits the advantage of dual arm manipulators: the two separate single manipulators interact with each other to complete the task. This study provides the proper control strategy of a dual arm manipulator for a complicated task and demonstrates the efficiency of the dual arm manipulator for rapid task completion.