Reference : Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Li...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/10993/35204

Title :	Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Life Products
Language :	English
Translated title :	[en] Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Life Products
Author, co-author :	Jungbluth, Jan [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > >]
	Plapper, Peter [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Gerke, Wolfgang [Trier University of Applied Sciences Enviromental Campus Birkenfeld > Robotics and Control Group]
Publication date :	6-May-2017
Main document title :	Robotix-Academy Conference
Translated title :	[en] Robotix-Academy Conference
Author, co-author :	Plapper, Peter
	Hichri, Bassem
Pages :	8
Peer reviewed :	No
On invitation :	Yes
Audience :	International
Event name :	Robotix Academy Conference for Industrial Robotics (RACIR)
Event date :	2017-06-6 to 2017-06-7
Event organizer :	Luxembourg University
Event place (city) :	Luxembourg
Event country :	Luxembourg
Keywords :	[en] Human Robot Interaction ; Intelligent Robot Assistant ; Disassembly
Abstract :	[en] The effective collaboration between humans and robots in complex and task rich environments like End of Life product disassembly depends on the ability of the robot to anticipate the workflow as well as the assistance the human co-worker wants. Our approach towards such an intelligent system is the development of an informed software agent that controls the robot assistance behavior. We inform the agent with procedural and declarative knowledge about the disassembly domain through models of the product structure and actor/object models. The product structure is then transformed to a directed graph and used to build, share and define a goal-orientated coarse workflow. Depending on the tasks and wanted assistance, the system can generate adaptable and detailed workflows through searching in the situation space on the basis of predefined and task dependent actions. The created detailed workflow consists of a sequence of actions that are used to call, parameterize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with higher cognitive skills to allow them to be autonomous in the performance of their assistance to improve the ergonomics of disassembly workstations.
Funders :	Intereg V GR Programm - Europäischer Fonds für regionale Entwicklung
Target :	Researchers ; Professionals
Permalink :	http://hdl.handle.net/10993/35204

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access RAC_JanJungbluth.pdf Author preprint 1.06 MB View/Open Additional material(s): File Commentary Size Access Open access Erstellung des Produktmodells in NX Stand 20170301.wmv Definition of the Product Model 30.19 MB View/Open Open access Bedienung Softwareagent Stand20170316.wmv Loading the Product Model and defining the Assistance 10.49 MB View/Open Open access Ausfuehrung Assistenz Softwareagent.wmv Video of how the Softwareagent is working while controlling the robot 24.42 MB View/Open Open access Ausführung Assistenz Roboter.wmv Video of the robot assited disassembly process 38.3 MB View/Open

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