Flexible multi-sensorial system for automatic disassembly using cooperative robots

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Título: Flexible multi-sensorial system for automatic disassembly using cooperative robots
Autor/es: Gil, Pablo | Pomares, Jorge | Puente Méndez, Santiago Timoteo | Díaz Baca, Carolina Soledad | Candelas-Herías, Francisco A. | Torres, Fernando
Grupo/s de investigación o GITE: Automática, Robótica y Visión Artificial
Centro, Departamento o Servicio: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Palabras clave: Automatic disassembly | Cooperative robots | Recognition | Visual control | Force control
Área/s de conocimiento: Ingeniería de Sistemas y Automática
Fecha de publicación: 23-ene-2007
Editor: Taylor & Francis
Cita bibliográfica: GIL VÁZQUEZ, Pablo, et al. “Flexible multi-sensorial system for automatic disassembly using cooperative robots”. International Journal of Computer Integrated Manufacturing. Vol. 20, Issue 8 (Dec. 2007). ISSN 0951-192X, pp. 757-772
Resumen: Flexible multisensorial systems are a very important issue in the current industry when disassembling and recycling tasks have to be performed. These tasks can be performed by a human operator or by a robot system. In the current paper a robotic system to perform the required tasks is presented. This system takes into consideration the distribution of the necessary tasks to perform the disassembly of a component using several robots in a parallel or in a cooperative way. The algorithm proposed to distribute the task among robots takes into consideration the characteristics of each task and the sequence that needs to be followed to perform the required disassembly of the product. Furthermore, this paper presents a disassembly system based on a sensorized cooperative robots interaction framework for the planning of movements and detections of objects in the disassembly tasks. To determine the sequence of the disassembly of some products, a new strategy to distribute a set of tasks among robots is presented. Subsequently, the visual detection system used for detecting targets and characteristics is described. To carry out this detection process, different well known strategies, such as matching templates, polygonal approach and edge detection, are applied. Finally, a visual-force control system has been implemented in order to track disassembly trajectories. An important aspect of this system is the processing of the sensorial information in order to guarantee coherence. This aspect allows the application of both sensors, visual and force sensors, co-ordinately to disassembly tasks. The proposed system is validated by experiments using several types of components such as the covers of batteries and electronic circuits from toys, and drives and screws from PCs.
Patrocinador/es: This work was funded by the Spanish MCYT project ‘Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático (DPI2005-06222)’ and by the project ‘DESAURO: Desensamblado Automático Selectivo para Reciclado mediante Robots Cooperativos y Sistema Multisensorial’ (DPI2002-02103).
URI: http://hdl.handle.net/10045/7832
ISSN: 0951-192X (Print) | 1362-3052 (Online)
DOI: 10.1080/09511920601143169
Idioma: eng
Tipo: info:eu-repo/semantics/article
Derechos: This is an electronic version of an article published in the International Journal of Computer Integrated Manufacturing ©2007 Copyright Taylor & Francis; International Journal of Computer Integrated Manufacturing is available online at http://www.informaworld.com
Revisión científica: si
Versión del editor: http://dx.doi.org/10.1080/09511920601143169
Aparece en las colecciones:INV - AUROVA - Artículos de Revistas

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