Dual-arm robots offer flexibility for assembly tasks, a key feature for automotive and aeronautic sectors where multiple references are managed and frequently in small batches. This solution is able to locate parts, assemble (e.g. insertions, part coupling.) and manage uncertainties during the process. Moreover, the intuitive process definition allows an easy creation and adaptation of programs for the assembly of new references. The goal is to offer a robust and flexible assembly solution, as demanded by European SMEs.