Reference : Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Li...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/10993/35204
Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Life Products
English
[en] Towards Intelligent Robot Assistants for the non-destructive Disassembly of End of Life Products
Jungbluth, Jan mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > >]
Plapper, Peter 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]
6-May-2017
Robotix-Academy Conference
[en] Robotix-Academy Conference
Plapper, Peter mailto
Hichri, Bassem mailto
8
No
Yes
International
Robotix Academy Conference for Industrial Robotics (RACIR)
2017-06-6 to 2017-06-7
Luxembourg University
Luxembourg
Luxembourg
[en] Human Robot Interaction ; Intelligent Robot Assistant ; Disassembly
[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.
Intereg V GR Programm - Europäischer Fonds für regionale Entwicklung
Researchers ; Professionals
http://hdl.handle.net/10993/35204

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Fulltext file(s):

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RAC_JanJungbluth.pdfAuthor preprint1.06 MBView/Open

Additional material(s):

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Erstellung des Produktmodells in NX Stand 20170301.wmvDefinition of the Product Model30.19 MBView/Open
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Bedienung Softwareagent Stand20170316.wmvLoading the Product Model and defining the Assistance10.49 MBView/Open
Open access
Ausfuehrung Assistenz Softwareagent.wmvVideo of how the Softwareagent is working while controlling the robot24.42 MBView/Open
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Ausführung Assistenz Roboter.wmvVideo of the robot assited disassembly process38.3 MBView/Open

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