An Approach to detect and overcome blocking situations in robotic disassembly

摘要

For environmental reasons as well as for economical reasons disassembly is becoming an interesting problem and a great challenge in automation. This paper addresses the problem of detecting and overcoming blocking situations in autonomous robotic disassembly. Particularly, a global search strategy is presented which is part of the planning level in a complex motion control structure and enables - in combination with a local controller generating the robot fine motions - the autonomous disassembly of products into separate modules avoiding destruction. As a representative example the disassembly of a block in box with two undercuts has been investigated.