Abstract
In this study, we developed technique for cooperative assembly task by plural position-controlled manipulator. The technique achieves high positioning accuracy by using a sensing method named point-face touch. As a result, force control using expensive, breakable sensor is unnecessary for cooperative assembly task. An effectiveness of this technique has.been verified by experiments. This experiment is peg-in-hole task. When space between peg and hole is about 0.1mm, the peg-in-hole task succeeded. There was little contact of peg and hole.
