针对传统装配方法面向平面弱几何轮廓结构的工件装配任务表现出的数据配准成功率低、位姿控制精度不足的问题，提出一种基于平面点云配准与相对位姿控制的工业件装配方法。首先通过双目结构光传感器重建出工件点云信息，应用RANSAC-ICP算法对重建结果进行配准，并结合平面法向量特征与最大距离关系进行纠正，从而实现精准点云配准。然后，提出基于相对位姿关系的机械臂控制方法，省略了对工具坐标系的标定，直接利用相对位姿控制机械臂运动，并将相对位姿误差结果作为控制系统误差的评价标准，从而实现可靠装配。最后，在真实测试场景下使用大型工业机械臂进行实验。结果表明，所提方法较传统装配方法装配成功率提升85个百分点，自动化装配精度优于0.5 mm，即该方法可以有效解决平面工件装配问题。

Aiming at the problems of low data registration success rate and insufficient pose control accuracy in traditional assembly methods for workpiece assembly tasks with planar weak geometric contour structures, an assembly method for industrial parts based on planar point cloud registration and relative pose control is proposed. First, the workpiece point cloud information is reconstructed by the binocular structured light sensor, and the obtained results are registered using the RANSAC-ICP algorithm. Then, the relationship between the plane normal vector feature and the maximum distance is corrected to achieve accurate point cloud registration. The relative pose relationship-based manipulator control method is proposed, which omits the calibration of the tool coordinate system and directly controls the manipulator movement by relative pose. Then, it takes the relative pose error as the evaluation standard of the control system error to realize the reliability assembly. Finally, experiments are conducted using a large industrial manipulator in a real test scenario. The results show that the registration success rate of the proposed method is improved by 85 percentage points compared to the traditional assembly method, and the automatic assembly accuracy is better than 0.5 mm, which means that the method can effectively solve the problem of planar workpiece assembly.