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.
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Jaesung Oh received his B.S. degrees in Mechanical and Control Engineering from the Handong Global University, Pohang, South Korea, and his M.S. degree in Mechanical Engineering from the Korea Advanced Institute of Science and Tech-nology (KAIST), Daejeon, South Korea, in 2013 and 2015, respectively. He is currently a graduate student in the Ph.D. course in the Department of Mechanical Engineering, KAIST. His research interests include humanoid robot and applications of robotics and control.
Jun-Ho Oh received his B.S. and M.S. degrees in Mechanical Engineering from Yonsei University, Seoul, South Korea, and his Ph.D. degree in Mechanical Engineering from the University of California, Berkeley, in 1977, 1979, and 1985, respectively. Since 1985, he has been with the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), where he is currently a Professor and a Director of the Humanoid Robot Research Center. His research interests include humanoid robots, sensors, actuators, and applications of microprocessors. He is a member of the IEEE, KSME, KSPE, and ICROS.
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Oh, J., Oh, JH. A modified perturbation/correlation method for force-guided assembly. J Mech Sci Technol 29, 5437–5446 (2015). https://doi.org/10.1007/s12206-015-1145-3
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DOI: https://doi.org/10.1007/s12206-015-1145-3