Non-vector space visual servoing for multiple pin-in-hole assembly by robot

This paper aims to develop a robotic large-scale multiple pin-in-hole assembly system. A non-vector space visual servoing network control method, including image error definition and interaction matrix construction, is proposed to achieve stable alignment of two pairs of holes. A visual servoing network is developed to obtain an optimal alignment of multiple pairs of holes. An experimental robotic system was developed to verify the proposed method for large-scale multiple pin-in-hole assembly. The experimental results demonstrate that the proposed method can realize stable and accurate assembly and has a positive impact on large-scale multiple pin-in-hole assembly.