Multi-Sensorial System for the Generation of Disassembly Trajectories

Author

Pomares, J. ; Puente, S.T. ; Garcia, G.J. ; Torres, F.

Author_Institution

Univ. of Alicante, Alicante

fYear

2006

fDate

24-26 July 2006

Firstpage

1

Lastpage

6

Abstract

The disassembly of products for they reuse is an important field of research. One aspect that appears when a product is been disassembled is the uncertainty in the trajectories for the removal of a component from the rest of the product. In order to reduce this lack of information, a multi-sensorial system is proposed. This system uses visual and force-sensor information to avoid the unknown factors in the disassembly plan and correct the trajectories generated which are based on the model of the product. This paper also describes the structure of a de-manufacturing system that can perform the desired disassembly task.

Keywords

design for disassembly; force sensors; industrial manipulators; position control; robotic assembly; sensor fusion; data fusion; de-manufacturing system; force-sensor information; multisensorial system; product disassembly; robot arm; trajectory generation; visual information; Fusion power generation; Manufacturing industries; Manufacturing processes; Recycling; Robotics and automation; Service robots; Solid modeling; Spatial databases; Trajectory; Uncertainty; data fusion; de-manufacturing; disassembly; multi-sensorial system; robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2006. WAC '06. World

Conference_Location

Budapest

Print_ISBN

1-889335-33-9

Type

conf

DOI

10.1109/WAC.2006.376004

Filename

4259920