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.
|Number of pages||6|
|Journal||IEEE International Conference on Intelligent Robots and Systems|
|Publication status||Published - 2001|
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications