Macro-micro manipulation with visual tracking and its application to wheel assembly

Changhyun Cho, Sungchul Kang, Munsang Kim, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly (± 1mm), and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

Original languageEnglish
Pages (from-to)461-468
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Issue number3
Publication statusPublished - 2005 Sept


  • Conveyor tracking
  • Macro-micro manipulator
  • Redundancy
  • Visual tracking
  • Wheel assembly

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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