Cho, C.-H. Kang, S. Kim, M. Song, J.-B. Min, S. Kim, J. Shin, H. 2024-01-12T09:40:45Z 2024-01-12T09:40:45Z 2022-03-10 2001-10 0000-0000 https://pubs.kist.re.kr/handle/201004/83780 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. English IEEE Visual tracking manipulator with redundancy and its application to robotic wheel assembly Conference 10.1109/IROS.2001.977173 1 IEEE International Conference on Intelligent Robots and Systems, pp.1376 - 1381 IEEE International Conference on Intelligent Robots and Systems 1376 1381 US Maui, HI, USA 2001-10-29 Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium 2-s2.0-0035559676