Compliant motion planning for two manipulators via human demonstration

A cooperative two-arm robot system can execute complicated tasks and handle parts with complex shapes. However, cooperation of the two manipulators is not widely used because its motion planning is difficult. A human executes complex assembly tasks using two arms, and learns from experience. Assembly motions of the human can be a good model for the two-arm robot. This paper focuses on planning compliant motions of the two-arm robot system based on analysis of the assembly motions of the human. Position profiles of the parts and the force and moment profiles of the two contacting parts are obtained through a data acquisition device. These profiles are classified into section unique to particular motions, and employed to plan compliant motions. The proposed method is verified through experiments with peg-in-hole assembly.