Fig. 1. Training and application of composite positioning method

Fig. 2. Flowchart of Canny processing

Fig. 3. Photo of precision assembly system

Fig. 4. Positioning results with different light intensities

Fig. 5. Influence of brightness on rough positioning

Fig. 6. Extracted feature coordinates by positioning algorithm

Fig. 7. Positioning results with various defocus distances

Fig. 8. Influence of defocus distances on rough positioning

Fig. 9. Feature coordinates extracted by positioning algorithm

Fig. 10. Positioning results at various rotation angles

Fig. 11. Influence of posture on rough positioning

Fig. 12. Images of part features

Fig. 13. Parts with different surface conditions

Fig. 14. Assembly parts

Fig. 15. Assembly process based on feature positioning