A Virtual-Guided Motion Planning and Control for Contact-Prohibited Stepped Shaft in Hole Assembly

To enable high-precision transfer from virtual assembly to physical implementation, a virtual-real fusion approach based on feature target referencing is proposed. Consensus feature points, such as target spheres, are introduced into both the virtual and real environments to establish a unified spatial mapping between their coordinate systems. An optical tracking system is utilized to acquire the real pose of the targets in the physical space, thereby enabling accurate alignment of virtual assembly results with the actual scene. To further mitigate perception and execution errors, visual servo control is incorporated. The proposed method is validated using the CoppeliaSim simulation platform. Results indicate that the approach improves the adaptability and precision of robot-guided assembly, providing a foundation for virtual-real collaborative assembly.