A Process Demonstration Platform for Product Disassembly Skills Transfer

摘要

Automated disassembly is challenging due to uncertainties and variations in the process with respect to the returned products. While cognitive robotic disassembly system can dismantle products in most cases, human assistances are required for resolving some physical uncertainties. This article presents a platform that the disassembly process can be demonstrated by skillful human operators. The process is represented with the sequence, position, and orientation of the tools, which are extracted by using vision system and tools' markers. The knowledge at planning and operational levels will be transferred to the robot to achieve automated disassembly. An operation for removing a back cover of an LCD screen with three disassembly tools is a case study.