This paper aims to develop a strategy for high‐precision assembly in a semi‐structured environment based on vision and force control.
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.
The tight tolerance assembly in a semi‐structured environment is successfully implemented using vision guidance and force/torque‐control strategy.
The developed methodology can be applied to tight tolerance assembly, such as forward‐clutch assembly, torque‐converter assembly, etc.
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.
