Robots are important equipment in modern industrial manufacturing and production. As products move towards small batch, multi-variety, and flexibility, robot collaboration systems based on multi-information fusion enable high-end precision manufacturing industries. This research focuses on the precision alignment and insertion technology of a hand-eye cooperation system in the field of precision electronic component assembly. By establishing a contact state model between electronic components and heterogeneous plates, the motion characteristics of force and displacement are analyzed. A compound control algorithm integrating visual, force sense, and encoder information is proposed, combined with visual inspection and tracking technology. Component insertion comparison experiments and assembly experiments based on algorithm fusion are carried out on the electronic component assembly platform. The results show that the positioning accuracy in the alignment phase is within 0.185 pixels. The contact state judgment and adjustment algorithm in the assembly stage ensures the safe and effective assembly of components.