For the assembly requirements of special satellite components, robot assembly technology based on visual guidance and force feedback control was studied. This technology gives the robot flexibility under different working conditions and offers high application efficiency under variable satellite assembly conditions. A robot assembly scheme that combines visual and force information was presented. Auxiliary pins were installed in mounting holes, a component was guided to the taper area of the pin by the robot using a visual guide, and a force feedback control was applied to the robot. The component was then accurately positioned based on the pin guidance. Infrared cameras and cooperative targets were used to achieve stable visual recognition and target positioning. A probe-type measurement tool was designed and measurement methods were developed to achieve flexible and convenient measurements of target points. A method for calculating the pose transformation matrix and target position of a robot was proposed based on known spatial correspondence point pairs and was used to achieve compliant pin guidance control. Experimental results show that the measurement matching error of the corresponding hole was within 2.9 mm. The robot can convey the component to the pin's guiding range through visual guidance, and the component can be accurately assembled in place through pin guidance and force feedback control. The force control threshold was determined to be 30 N. This technology can meet the engineering implementation requirements for satellite component assembly.