An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

[摘要] One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate "the problem of loosening a connection and the distribution of the work" as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

[发布机构] Technology Research Group, SEW EURODRIVE, Bruchsal, Germany^1;Robotic and Control Group, Trier University of Applied Sciences (TUAS), Environmental Campus Birkenfeld, Birkenfeld, Germany^2;Faculty of Science, Technology and Communication, University of Luxembourg, Luxembourg^3

[效力级别] 计算机科学

[关键词] Disassembly plans;Disassembly process;Generic approach;Human-robot collaboration;Product modeling;Product models;Product structure;Sequence of actions