Folding assembly by means of dual-arm robotic manipulation

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.