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: Contribution to journalArticle

1 Citation (Scopus)


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
Pages (from-to)1376-1381
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Publication statusPublished - 2001 Jan 1

ASJC Scopus subject areas

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

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