This paper describes an algorithm to identify the partial curves of planar objects in 2-D space and its application to robot assembly. For the given boundary curves of bojexts, dominant points of every boundary curve are detected. Then, by considering the dominant points as the separation points, the corresponding boundary curve is segmented into partial boundary curves which are called curve segments. And then, the curve segments belonging to the boundary cuve of an object are translated and rotated to match those of another object to obtain the matched curve segments. From these matched curve segments, the longest consecutive matched curve is detected. At last, the effectiveness of this algorithm is shown by the shown by the experiment results.
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