Based on actual production project

a hand eye calibration method for selective compliance assembly robot arm（ SCARA） robot plane assembly task is proposed. In this method

the output error of linear calibration method is reduced by iterations. Compared with the linear calibration method for hand eye calibration

the average positioning error of visual positioning is reduced by 0. 4 mm after calibration

and the maximum localization error is decreased by 0. 6 mm. When using SCARA robot for millimeter range operation

the hand eye calibration method using iterations has higher visual positioning accuracy than the traditional linear calibration method. At the same time

after the completion of the end effector to grasping tasks

pose end assembly using SCARA robot is proposed to solve the linear equations for the solution

through the verification of the actual project

the assembly success rate is 98. 6 %.