Integrated robotic system for high precision assembly in a semi-structured environment

Purpose - This paper aims to develop a strategy for high-precision assembly in a semi-structured environment based on vision and force control. Design/methodology/approach - The position and orientation of a part are identified using the vision system. The force/torque control algorithm is then applied to perform a tight-tolerance assembly that is a high-precision assembly. Findings - The tight tolerance assembly in a semi-structured environment is successfully implemented using vision guidance and force/torque-control strategy. Practical implications - The developed methodology can be applied to tight tolerance assembly, such as forward-clutch assembly, torque-converter assembly, etc. Originality/value - An industrial assembly methodology has been developed and implemented for high-precision assembly in a semi-structured environment. This innovation has many potential applications in automotive manufacturing.