Assembly works are classified into a static assembly and dynamic assembly work. The dynamic assembly using a robot is caused a relative position and velocity tracking error between a robot end effector and a moving object by parameter uncertainty and disturbance of the system.
Hence to accomplish successfully the assembly work we must synchronizing continuosly the velocity of a robot end effector and a moving object by measurement and compensation of the relative error.
For those purpose, this study developes the sensor system measuring directly the relative error between the two moving objects by using the PSD element and this sensor is calibrated on the precise table with 3 degree of freedom.
This sensor has a good characteristics of 0.01 repeatability error, full scale linearity less than 1% and high resolution.
Also to apply this sensor to synchronizing the two moving objects, the moving conveyor system is designed and identified experimentally to finding the system parameters.
And the conventional PID controller based on the PSD sensor is designed and experimentally implemented. The two control schemes, position tracking and velocity tracking are executed in the actual tracking experiment. Then the tracking performance is well in practical tracking situation.
