20.500.12556/RUL-174614 From perception to precision vision-based mobile robotic manipulation for assembly screwdriving Flexible manufacturing demands automation that is both precise and adaptable. However, tasks such as screwdriving are typically automated using costly, rigid robotic cells, making this approach impractical for low-volume, high-mix production. As a scalable solution, mobile manipulators offer a flexible alternative, but achieving the required precision for screwdriving remains challenging due to localization uncertainties. This paper addresses these limitations by presenting a vision-guided mobile robotic manipulation system that performs high-precision screwdriving using only monocular RGB imagery. The proposed pipeline integrates stationary and onboard cameras with perception algorithms for object identification and segmentation, pose estimation, and CAD-based screw hole localization, compensating for base misalignment and object placement variability. Experimental validation using ISO 9283 standard’s metrics demonstrates a translational accuracy between 0.21 mm and 0.50 mm across multiple screw positions. Additionally, the system achieves angular estimation errors as low as 0.07° to 0.20°, verifying its capability for sub-degree precision in orientation estimation. In 50 independent experiments involving a total of 400 screw insertions, the system achieved a 100 % success rate, confirming its reliability in practical conditions. These results confirm the feasibility of using RGB-only vision for precision screwdriving and highlight the mobile manipulation system’s scalability for real-world semi-structured manufacturing environments. mobile manipulation vision-based control screwdriving robotics perception algorithms assembly automation mobilna manipulacija računalniški vid vijačenje robotika algoritmi zaznave avtomatizirano sestavljanje true false true Angleški jezik Slovenski jezik Članek v reviji 2025-10-07 10:45:20 2025-10-07 10:45:28 2026-07-07 04:17:34 0000-00-00 00:00:00 2026 0 0 16 str. Vol. 98, art. 103148 Apr. 2026 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 007.52 0736-5845 10.1016/j.rcim.2025.103148 252036611 1-s2.0-S0736584525002029-main.pdf 1-s2.0-S0736584525002029-main.pdf 1 3FB266D560230D97D3235B7BC63CB883 1703dddbbbb0c8b0275ec37ab1e754b425451ea6b9fc6f080b52e24879684783 fa886427-790a-11f1-9b0d-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=237046 https://www.sciencedirect.com/science/article/pii/S0736584525002029 1 bf64d827-a359-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=219457 Fakulteta za elektrotehniko 0 0 0