A modified perturbation/correlation method for force-guided assembly

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dc.contributor.authorOh, Jaesungko
dc.contributor.authorOh, Jun-Hoko
dc.date.accessioned2016-04-22T07:46:59Z-
dc.date.available2016-04-22T07:46:59Z-
dc.date.created2016-01-08-
dc.date.created2016-01-08-
dc.date.issued2015-12-
dc.identifier.citationJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.29, no.12, pp.5437 - 5446-
dc.identifier.issn1738-494X-
dc.identifier.urihttp://hdl.handle.net/10203/205704-
dc.description.abstractThe 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.languageEnglish-
dc.publisherKOREAN SOC MECHANICAL ENGINEERS-
dc.subjectDYNAMIC-ANALYSIS-
dc.subjectHOLE-
dc.subjectPEG-
dc.titleA modified perturbation/correlation method for force-guided assembly-
dc.typeArticle-
dc.identifier.wosid000366368600047-
dc.identifier.scopusid2-s2.0-84949575636-
dc.type.rimsART-
dc.citation.volume29-
dc.citation.issue12-
dc.citation.beginningpage5437-
dc.citation.endingpage5446-
dc.citation.publicationnameJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY-
dc.identifier.doi10.1007/s12206-015-1145-3-
dc.contributor.localauthorOh, Jun-Ho-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorPerturbation method-
dc.subject.keywordAuthorForce-guided assembly-
dc.subject.keywordAuthorPeg-in-hole task-
dc.subject.keywordAuthorDRC-
dc.subject.keywordAuthorDRC-HUBO-
dc.subject.keywordPlusDYNAMIC-ANALYSIS-
dc.subject.keywordPlusHOLE-
dc.subject.keywordPlusPEG-
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