Fig. 1. Robotic arm assembly flowchart

Fig. 2. Flowchart of point cloud registration correction

Fig. 3. Assemble experimental parts。(a) Assemblies; (b) base plate; (c) assembly results

Fig. 4. Binocular structured light system. (a) Overall structure diagram of the binocular structured light sensor; (b) structured light sensor internal connection diagram

Fig. 5. Robotic arm assembly experimental verification platform

Fig. 6. Point cloud registration results for different samples. (a) Assembly 1; (b) assembly 2; (c) assembly 3; (d) assembly 4; (e) assembly 5; (f) assembly 6; (g) assembly 7; (h) assembly 8; (i) assembly 9

Fig. 7. Assembly 3 point cloud registration repeatability experiment. (a) Experiment 1; (b) experiment 2; (c) experiment 3; (d) experiment 4; (e) experiment 5

Fig. 8. Experimental results. (a) Assembly point cloud registration results; (b) (c) real-world scene assembly results