DC Field | Value | Language |
---|---|---|
dc.contributor.author | Oh, Jaesung | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2016-04-22T07:46:59Z | - |
dc.date.available | 2016-04-22T07:46:59Z | - |
dc.date.created | 2016-01-08 | - |
dc.date.created | 2016-01-08 | - |
dc.date.issued | 2015-12 | - |
dc.identifier.citation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.29, no.12, pp.5437 - 5446 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | http://hdl.handle.net/10203/205704 | - |
dc.description.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. | - |
dc.language | English | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.subject | DYNAMIC-ANALYSIS | - |
dc.subject | HOLE | - |
dc.subject | PEG | - |
dc.title | A modified perturbation/correlation method for force-guided assembly | - |
dc.type | Article | - |
dc.identifier.wosid | 000366368600047 | - |
dc.identifier.scopusid | 2-s2.0-84949575636 | - |
dc.type.rims | ART | - |
dc.citation.volume | 29 | - |
dc.citation.issue | 12 | - |
dc.citation.beginningpage | 5437 | - |
dc.citation.endingpage | 5446 | - |
dc.citation.publicationname | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.identifier.doi | 10.1007/s12206-015-1145-3 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Perturbation method | - |
dc.subject.keywordAuthor | Force-guided assembly | - |
dc.subject.keywordAuthor | Peg-in-hole task | - |
dc.subject.keywordAuthor | DRC | - |
dc.subject.keywordAuthor | DRC-HUBO | - |
dc.subject.keywordPlus | DYNAMIC-ANALYSIS | - |
dc.subject.keywordPlus | HOLE | - |
dc.subject.keywordPlus | PEG | - |
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