The invention provides a collaborative
assembly method based on
point cloud registration, a medium and equipment, and the method comprises the steps: determining a calibration
point cloud and a calibration placement
pose of a mounting plate, a calibration
surface point cloud and a calibration grabbing
pose of a to-be-mounted part, and a calibration bottom
point cloud and a calibration mounting
pose of the to-be-mounted part; obtaining a first installation correction pose according to the calibration point cloud of the installation plate and the
current point cloud of the installation plate, obtaining a corrected actual grabbing pose according to the calibration
surface point cloud of the to-be-installed part and the
current point cloud of the to-be-installed part, grabbing the to-be-installed part according to the actual grabbing pose, and obtaining a bottom scene point cloud of the to-be-installed part in a grabbing scene, and correcting the calibrated installation pose according to the bottom scene point cloud and the calibrated bottom point cloud to obtain a second installation correction pose, and integrating the first installation correction pose and the second installation correction pose to obtain a final installation pose of the to-be-installed part. The problems of low
assembly precision, poor adaptability and the like in the prior art are solved.