A self-evolving system for robotic disassembly sequence planning under uncertain interference conditions

被引:16
作者
Ye, Fei [1 ]
Perrett, James [2 ]
Zhang, Lin [1 ]
Laili, Yuanjun [1 ]
Wang, Yongjing [2 ]
机构
[1] Beihang Univ, Sch Automation Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Univ Birmingham, Sch Engn, Birmingham B15 2TT, England
基金
中国国家自然科学基金; 英国工程与自然科学研究理事会;
关键词
Robotic disassembly; Fuzzification; Sequence planning; Dual-loop self-evolving; Uncertain interference; ELECTRONIC EQUIPMENT; INTEGRATED APPROACH; ALGORITHM; PRODUCTS; GENERATION; MODEL; PARTS;
D O I
10.1016/j.rcim.2022.102392
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
Robotic disassembly sequence planning (DSP) is a research area that looks at the sequence of actions in the disassembly intending to achieve autonomous disassembly with high efficiency and low cost in remanufacturing and recycling applications. A piece of key input information being factored in DSP is the interference condition of a product, i.e., a mathematical representation of the spatial location of components in an assembly, usually in the form of a matrix. An observed challenge in the area is that the interference condition can be uncertain due to variations in the end-of-life conditions, and there is a lack of tools available in DSP under uncertain interference. To address this challenge, this paper proposes a new DSP method that can cope with uncertain interference conditions enabled by the fuzzification of DSP (FDSP). This new approach in the core is a fuzzy and dynamic modeling method in combination with an iterative re-planning strategy, and FDSP offers the capability for DSP to adapt to failures and self-evolve online. Three products are given to demonstrate FDSP.
引用
收藏
页数:14
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