An assembly test platform capable of micrometer positioning, visual and force sensing detection, is developed for suits docking in ignition target final assembly. The classification and discrimination of target parts and the corresponding image detection are adopted to realize closed-loop position control. The target suits docking process is analyzed, and a assembly force model is established. An assembly force control method is proposed based on the established model. Finally, targets positioning and docking experiments are carried out using the developed auto-assembly system, and the system force control, assembly accuracy and efficiency are verified.
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