The video presents the automatic assembly of planar parts with complex geometry. 
The main focus of the work is on the automatic generation and parameterization of 
the assembly sequence, which should provide maximal robustness with respect to 
positioning errors of the robot and residual position uncertainties of vision 
based object localization. The assembly utilizes the impedance controlled DLR-KUKA 
light-weight robot in order to align the parts automatically. Success of the 
automatic alignment, i.e. the convergence of the assembly process can be guaranteed 
using the means of regions of attraction (ROA). The planning optimizes the assembly 
trajectories and parameters in such a way that the ROA is maximized for any given 
part geometry. Image processing is used in experiments for positioning within the 
ROA, impedance control is used for robust assembly.
