Intelligent manufacturing plays an increasingly important role in improving production efficiency, reducing costs, and improving product quality, and contributes to the sustainable development of the global manufacturing industry. In this paper, a control scheme of dual-arm robot cooperative compliant assembly is designed, which can be applied to industrial intelligent production lines. Taking the thread assembly process as the research object, the task model of the assembly is built. Specifically, the threaded assembly is abstracted into three processes. Aiming at the difficulties that need to be paid attention to in different assembly processes, combined with the force sensor, a phased controller is designed, and its feasibility is verified by simulation. The feasibility of the method is verified by simulation and experiment. In the case of force tracking accuracy of 0.1 N and expected force of 4 N, the experiment successfully assembled a 5 mm thread connector in about 48.54 s, and the force overshoot reached about 9 N.