Reference : An intelligent agent-controlled and robot-based disassembly assistant
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Mechanical engineering
Sustainable Development; Computational Sciences
http://hdl.handle.net/10993/31589
An intelligent agent-controlled and robot-based disassembly assistant
English
Jungbluth, Jan mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Gerke, Wolfgang mailto [Trier University of Applied Sciences Enviromental Campus Birkenfeld > Robotics and Control Group]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
2017
Conference Proceedings on the 2nd International Conference on Artificial Intelligence and Robotics ( ICAIR 2017)
11
Yes
International
2017 2nd International Conference on Artificial Intelligence and Robotics ( ICAIR 2017)
from 28-10-2017 to 30-10-2017
Hong Kong Society of Mechanical Engineers
Prague
Czech
[en] Human-Robot-Interaction ; non-destructive Disassembly ; Robot Assistant
[en] 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.
University of Luxembourg: Faculty of Science, Technology and Communicatin
SEW EURODRIVE GmbH & Co. KG
Researchers ; Professionals ; Students
http://hdl.handle.net/10993/31589

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