Research on hinge shaft workpiece feature positioning method based on automatic door assembly

In the automated door assembly process, the precise positioning of the door end hinge axis is critical to the accuracy of robot operation and assembly quality. In this paper, a workpiece coordinate system establishment method based on point cloud data is proposed to construct a stable and reproducible workpiece coordinate system through the steps of cylindrical fitting, feature point extraction and positional attitude solving, and realise the conversion from camera coordinate system, fixture coordinate system to robot base coordinate system. This method can effectively compensate for the errors caused by manufacturing tolerances during the door mounting process and improve the stability and accuracy of robot assembly. The experimental results show that the method can provide a stable coordinate reference to ensure that the robot performs the assembly task accurately with good robustness and reliability in a complex industrial environment.