1,346 research outputs found
Learning robotic milling strategies based on passive variable operational space interaction control
This paper addresses the problem of robotic cutting during disassembly of
products for materials separation and recycling. Waste handling applications
differ from milling in manufacturing processes, as they engender considerable
variety and uncertainty in the parameters (e.g. hardness) of materials which
the robot must cut. To address this challenge, we propose a learning-based
approach incorporating elements of interaction control, in which the robot can
adapt key parameters, such as feed rate, depth of cut, and mechanical
compliance during task execution. We show how a mathematical model of cutting
mechanics, embedded in a simulation environment, can be used to rapidly train
the system without needing large amounts of data from physical cutting trials.
The simulation approach was validated on a real robot setup based on four case
study materials with varying structural and mechanical properties. We
demonstrate the proposed method minimises process force and path deviations to
a level similar to offline optimal planning methods, while the average time to
complete a cutting task is within 25% of the optimum, at the expense of reduced
volume of material removed per pass. A key advantage of our approach over
similar works is that no prior knowledge about the material is required.Comment: 15 pages, 14 figures, accepted for publication in IEEE Transactions
on Automation Science and Engineering (T-ASE
Disassembly 4.0: a review on using robotics in disassembly tasks as a way of automation
To successfully implement circular economy processes into present value chains, economic feasibility of disassembly processes is essential. Current developments in science and technology, such as artificial intelligence and Internet of Things, foster steep progression in the field of robotics. In this review, the current research on robotics in disassembly is investigated by a systematic literature review. The results were clustered in a framework system distinguishing between applied and basic research on the two main streams of disassembly automation research, namely, predefined processes and adaptable, flexible automation
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021
This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)
Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021
This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics.
The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)
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