Disassembly of Unknown Models of Electrical Vehicle Motors Using Innovative Human Robot Cooperation

摘要

This paper presents an innovative human robot interaction (HRI) concept for increasing the automation level during the disassembly of unknown electric vehicle motors. The proposed system is based on a robot workstation which is able to cooperate and to learn from a supervisor by using vision and force sensors. The proposed algorithm consists of two phases: 1. Teaching phase: the robot can memorize cyclic subtasks based on safe and active physical interaction with a human. 2. Cognition phase: the robot can detect the screws and match them with the previously taught screws in order to define the type and position of the electric motor. Furthermore, the robot repeats the disassembly task independently and can modify its path according to the measured forces/moments.