An intelligent agent-controlled and robot-based disassembly assistant

  • 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.

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Author:Jan Jungbluth, Wolfgang Gerke, Peter Plapper
Parent Title (English):IOP Conference Series: Materials Science and Engineering
Publisher:IOP Publishing
Document Type:Article (specialist journals)
Date of OPUS upload:2023/03/15
Year of first Publication:2017
Publishing University:Hochschule Trier
Release Date:2023/03/15
Tag:branch and bound search algorithm; disassembly plan; product model
disassembly process; human-robot-collaboration; informed software agent; intelligent robot assistant; robot system
GND Keyword:Demontage; Industrieroboter; Robotertechnik; Künstliche Intelligenz; Agent <Künstliche Intelligenz>; Branch-and-Bound-Methode; Suchverfahren
Article Number:012005
Page Number:12
First Page:1
Last Page:12
Departments:FB Umweltplanung/-technik (UCB)
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme
6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International