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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1376-1381
Number of pages6
Volume3
Publication statusPublished - 2001 Dec 1
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period01/10/2901/11/3

Fingerprint

Manipulators
Redundancy
Wheels
Robotics
Railroad cars
Macros
Automation
Bandwidth
Microstructure

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Cho, C. H., Kang, S., Kim, M., Song, J-B., Min, S., Kim, J., & Shin, H. (2001). Visual tracking manipulator with redundancy and its application to robotic wheel assembly. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 1376-1381)

Visual tracking manipulator with redundancy and its application to robotic wheel assembly. / Cho, C. H.; Kang, Sungchul; Kim, Munsang; Song, Jae-Bok; Min, Sunkyoo; Kim, Jeasun; Shin, Hyunoh.

IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2001. p. 1376-1381.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cho, CH, Kang, S, Kim, M, Song, J-B, Min, S, Kim, J & Shin, H 2001, Visual tracking manipulator with redundancy and its application to robotic wheel assembly. in IEEE International Conference on Intelligent Robots and Systems. vol. 3, pp. 1376-1381, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 01/10/29.
Cho CH, Kang S, Kim M, Song J-B, Min S, Kim J et al. Visual tracking manipulator with redundancy and its application to robotic wheel assembly. In IEEE International Conference on Intelligent Robots and Systems. Vol. 3. 2001. p. 1376-1381
Cho, C. H. ; Kang, Sungchul ; Kim, Munsang ; Song, Jae-Bok ; Min, Sunkyoo ; Kim, Jeasun ; Shin, Hyunoh. / Visual tracking manipulator with redundancy and its application to robotic wheel assembly. IEEE International Conference on Intelligent Robots and Systems. Vol. 3 2001. pp. 1376-1381
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