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

C. H. Cho; Sungchul Kang; Munsang Kim; Jae Bok Song; Sunkyoo Min; Jeasun Kim; Hyunoh Shin

doi:10.1109/IROS.2001.977173

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

C. H. Cho, Sungchul Kang, Munsang Kim, Jae Bok Song, Sunkyoo Min, Jeasun Kim, Hyunoh Shin

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

In this paper, 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.

Original language	English
Pages (from-to)	1376-1381
Number of pages	6
Journal	IEEE International Conference on Intelligent Robots and Systems
Volume	3
DOIs	https://doi.org/10.1109/IROS.2001.977173
Publication status	Published - 2001

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2001.977173

Cite this

@article{3f6463ad55134a7d9e4d06693276a51c,

title = "Visual tracking manipulator with redundancy and its application to robotic wheel assembly",

abstract = "In this paper, 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.",

author = "Cho, {C. H.} and Sungchul Kang and Munsang Kim and Song, {Jae Bok} and Sunkyoo Min and Jeasun Kim and Hyunoh Shin",

year = "2001",

doi = "10.1109/IROS.2001.977173",

language = "English",

volume = "3",

pages = "1376--1381",

journal = "IEEE International Conference on Intelligent Robots and Systems",

issn = "2153-0858",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Visual tracking manipulator with redundancy and its application to robotic wheel assembly

AU - Cho, C. H.

AU - Kang, Sungchul

AU - Kim, Munsang

AU - Song, Jae Bok

AU - Min, Sunkyoo

AU - Kim, Jeasun

AU - Shin, Hyunoh

PY - 2001

Y1 - 2001

N2 - In this paper, 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.

AB - In this paper, 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.

UR - http://www.scopus.com/inward/record.url?scp=0035559676&partnerID=8YFLogxK

U2 - 10.1109/IROS.2001.977173

DO - 10.1109/IROS.2001.977173

M3 - Article

AN - SCOPUS:0035559676

SN - 2153-0858

VL - 3

SP - 1376

EP - 1381

JO - IEEE International Conference on Intelligent Robots and Systems

JF - IEEE International Conference on Intelligent Robots and Systems

ER -

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

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this