A modified perturbation/correlation method for force-guided assembly

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The present study proposes the Modified perturbation/correlation method (MPCM) as a way of performing assembly tasks and an algorithm by which assembly task can be performed automatically, without human intervention. The MPCM is a method where position/ orientation perturbation is generated when the female connector and the male connector are connected and the correlation value of the resulting reaction force/moment is used to calculate and to correct the position and orientation errors between the connectors. The successful performance of assembly task within a limited error range can be confirmed by applying the MPCM to DRC-HUBO. When there are errors between the connector, the correlation value can be confirmed to converge to 0 as errors are corrected even though it takes on certain directionality.
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Issue Date
2015-12
Language
English
Article Type
Article
Keywords

DYNAMIC-ANALYSIS; HOLE; PEG

Citation

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.29, no.12, pp.5437 - 5446

ISSN
1738-494X
DOI
10.1007/s12206-015-1145-3
URI
http://hdl.handle.net/10203/205704
Appears in Collection
ME-Journal Papers(저널논문)
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