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Tracking control of a conveyor belt: design and experiments

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2 Author(s)
Tsai, M.C. ; Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan ; Lee, C.H.

This paper presents the results of an experimental setup for a position tracking system that is to control a working table to track a workpiece on a moving conveyor belt, such that the manipulator placed on the working table is able to operate upon the workpiece while the workpiece is still moving. The feedback control employs a reflective type optical sensor which is placed on the table, to measure the relative positions of the working table and the workpiece. A predictive method to compensate for the effect of sensor output saturation on tracking performance is investigated in detail. The application of this tracking control to industrial production lines to achieve a nonstop work flow may shorten overall manufacturing time, and therefore improve the production efficiency and increase the productivity

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Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 1 )