  We present algorithms and results for a robotic manipulation system that was
designed to be easily programmable and adaptable to various tasks common to
industrial setting, which is inspired by the Industrial Assembly Challenge at
the 2018 World Robotics Summit in Tokyo. This challenge included assembly of
standard, commercially available industrial parts into 2D and 3D assemblies. We
demonstrate three tasks that can be classified into "peg-in-hole" and
"hole-on-peg" tasks and identify two canonical algorithms: spiral-based search
and tilting insertion. Both algorithms use hand-coded thresholds in the force
and torque domains to detect critical points in the assembly. After briefly
summarizing the state of the art in research, we describe the strategy and
approach utilized by the tested system, how it's design bears on its
performance, statistics on 20 experimental trials for each task, lessons
learned during the development of the system, and open research challenges that
still remain.
