Title :
Visual tracking manipulator with redundancy and its application to robotic wheel assembly
Author :
Cho, Chang-hyun ; Kang, Sungchul ; Kim, Munsang ; Song, Jae-Bok ; Min, Sunkyoo ; Kim, Jeasun ; Shin, Hyunoh
Author_Institution :
Dept. of Mech. Eng., Korea Univ., Seoul, South Korea
Abstract :
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
Keywords :
assembling; automobile industry; computer vision; industrial manipulators; manipulator kinematics; position control; redundancy; tracking; automobile industry; factory automation; industrial manipulators; kinematic modeling; macro-micro manipulator; position control; redundancy; visual tracking; wheel assembly; Assembly systems; Manipulators; Manufacturing; Mobile robots; Redundancy; Robotic assembly; Robotics and automation; Service robots; Tracking; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977173
