This study aims to achieve reliable sub-millimeter robotic assembly for small-scale components using vision-based control under calibration-limited industrial conditions.
A vision-based assembly strategy is proposed by integrating segmented image-based visual servoing and feature-based graph matching in an eye-in-hand configuration. The assembly state is regulated directly through two-dimensional image feature relationships without explicit 3D pose estimation.
Experiments on representative connector assembly tasks demonstrate sub-millimeter positioning accuracy and stable convergence under significant initial pose uncertainties using commercially available cameras, coarse calibration and reliably identifiable image features.
The proposed framework provides a practical solution for small-scale precision assembly by emphasizing feature-driven control and system-level robustness rather than high-precision sensing.
