Virtual-force Based Visual Servo for Multiple Peg-in-Hole Assembly with Tightly Coupled Multi-Manipulator

Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align multiple distant pegs and holes, necessitating tightly coupled multi-manipulator systems. For such MPiH tasks using tightly coupled multiple manipulators, we propose a collaborative visual servo contr…