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Visual tracking manipulator with redundancy and its application to robotic wheel assembly

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7 Author(s)
Chang-hyun Cho ; Dept. of Mech. Eng., Korea Univ., Seoul, South Korea ; Sungchul Kang ; Munsang Kim ; Jae-Bok Song
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A new wheel assembly automation system is proposed which assembles a wheel into a hub on a car body on a moving hanger in the car manufacturing line. A vision system is used to track the position of the hub on the moving hanger A macro-micro structure is applied to increase a system bandwidth and accuracy to meet an insertion tolerance. The redundancy problem is solved without complicated calculations by assigning different functions that the macro manipulator tracks a velocity error and the micro regulates the position error. Experimental results show that the proposed system can be applied to the wheel assembly task on a moving hanger in the car manufacturing line

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

2001