Cho, C Kang, S Kim, M Song, JB 2024-01-21T04:33:23Z 2024-01-21T04:33:23Z 2021-09-03 2005-09 1598-6446 https://pubs.kist.re.kr/handle/201004/136194 This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly (+/- 1 mm), and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line. English INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS Macro-micro manipulation with visual tracking and its application to wheel assembly Article 1 INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.3, no.3, pp.461 - 468 INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 3 3 461 468 scie scopus kci ART001149039 000231542700009 2-s2.0-24744468089 Automation & Control Systems Automation & Control Systems Article conveyor tracking macro-micro manipulator redundancy visual tracking wheel assembly