Hierarchical control of disassembly cells

摘要

Fully or semi-automated disassembly will gain importance in the nearest future especially for electr(on)ic waste. A flexible, modular system for the development of semi-automatized, intelligent disassembly cells including stationary robots and especially a "low cost", hierarchical control strucutre is presented based on "disassembly families". The control structure is applied to a disassembly cell for electronic parts on printed boards.