Recent advances in robotics research show that applications of robot manipulators to complex assembly problems require the use of an intelligent terminal to generate compliant micro-motions. A new approach for complex assembly tasks consisting in the use of a manipulator-gripper, like a left hand, is presented here. Previous works have been concerned with the analysis and development of the manipulator-gripper to grip and manipulate objects of various shapes, and control grasp and contact forces. Experiments are being carried out to correct small variations in the relative position and orientation of assembly parts require further development towards high-level programming system.