A modified perturbation/correlation method for force-guided assembly

Abstract

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.