In this paper, we first introduce a new type cell(modu1e) of Self Organizing Manipulator that was developed by the authors, then present a method for assembling this type of cell using manipulators. Since the new type of cells has two guides for connection, it can also be considered as a dual-peg-in-hole configuration. To obtain effective assembly sequence of cells, we observe the sequence of work and record forceltorque data, psychological data of the people performing the same work, By analyzing the result of the experiment, we obtained a reasonable sequence for performing such work. We apply this result to the assembly of cells using a camera coordinated with a forcehorque sensor. The analysis of force and geometric condition in the DualPeg-in-Hole configuration, and results of experiments are also presented.
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