abstract

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

Authors:

Mohamad Bdiwi,

Aquib Rashid,

Marko Pfeifer,

Matthias PutzAuthors Info & Claims

HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

Pages 85 - 86

https://doi.org/10.1145/3029798.3038425

Published: 06 March 2017 Publication History

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Abstract

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.

References

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M. Santochi, G. Dini, and F. Failli, "Computer Aided Disassembly Planning: State of the Art and perspectives" CIRP Annals-Manufacturing Technology pp 507--529, 2007.

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D.H. Lee, P. Xirouchakis, and R. Züst, "Disassembly Scheduling with capacity constraints", CIRP Annals Manufacturing Technology, pp.387--390, 2002.

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S. Kara, P. Pornprasitpol, and H. Kaebernick, "Selective Disassembly Sequencing. A Methodology for the End-of-Life Products", Annals of the CIRP, Vol. 55/1, 2006.

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[5]

Bdiwi, Mohamad, Aquib Rashid, and Matthias Putz. "Autonomous disassembly of electric vehicle motors based on robot cognition." 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2016.

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E. Guizzo and E. Ackerman, "How Rethink Robotics Build its New Baxter Robot Worker", IEEE Spectrum, Sep. 2012.

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Cited By

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Goli FZhang YQu MZang YSaadat MPham DWang Y(2024)Jamming problems and the effects of compliance in dual peg-hole disassemblyProceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences10.1098/rspa.2023.0364480:2286Online publication date: 20-Mar-2024
https://doi.org/10.1098/rspa.2023.0364
Bründl PScheck ANguyen HFranke J(2024)Towards a circular economy for electrical productsRobotics and Computer-Integrated Manufacturing10.1016/j.rcim.2023.10269387:COnline publication date: 1-Jun-2024
https://dl.acm.org/doi/10.1016/j.rcim.2023.102693
Johansen SDonovan JRittenbruch MCastellano GRiek LCakmak MLeite I(2023)Illustrating Robot MovementsProceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3568162.3576956(231-242)Online publication date: 13-Mar-2023
https://dl.acm.org/doi/10.1145/3568162.3576956
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Disassembly of Unknown Models of Electrical Vehicle Motors Using Innovative Human Robot Cooperation

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Published In

HRI '17: Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

March 2017

462 pages

ISBN:9781450348850

DOI:10.1145/3029798

General Chairs:
Bilge Mutlu
University of Wisconsin-Madison, USA
,
Manfred Tscheligi
University of Salzburg, Austria
,
Program Chairs:
Astrid Weiss
Vienna University of Technology, Austria
,
James E. Young
University of Manitoba, Canada

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

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Published: 06 March 2017

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HRI '17

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HRI '17: ACM/IEEE International Conference on Human-Robot Interaction

March 6 - 9, 2017

Vienna, Austria

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HRI '17 Paper Acceptance Rate 51 of 211 submissions, 24%;

Overall Acceptance Rate 192 of 519 submissions, 37%

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Goli FZhang YQu MZang YSaadat MPham DWang Y(2024)Jamming problems and the effects of compliance in dual peg-hole disassemblyProceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences10.1098/rspa.2023.0364480:2286Online publication date: 20-Mar-2024
https://doi.org/10.1098/rspa.2023.0364
Bründl PScheck ANguyen HFranke J(2024)Towards a circular economy for electrical productsRobotics and Computer-Integrated Manufacturing10.1016/j.rcim.2023.10269387:COnline publication date: 1-Jun-2024
https://dl.acm.org/doi/10.1016/j.rcim.2023.102693
Johansen SDonovan JRittenbruch MCastellano GRiek LCakmak MLeite I(2023)Illustrating Robot MovementsProceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3568162.3576956(231-242)Online publication date: 13-Mar-2023
https://dl.acm.org/doi/10.1145/3568162.3576956
Zhang SZhang YWang ZZhang HGu KPeng YChen M(2023)Design and Implementation of a Multifunctional Screw Disassembly WorkstationIntelligent Robotics and Applications10.1007/978-981-99-6501-4_43(506-519)Online publication date: 13-Oct-2023
https://doi.org/10.1007/978-981-99-6501-4_43
Turner COyekan JGarn WDuggan CAbdou K(2022)Industry 5.0 and the Circular Economy: Utilizing LCA with Intelligent ProductsSustainability10.3390/su14221484714:22(14847)Online publication date: 10-Nov-2022
https://doi.org/10.3390/su142214847
Chen JLiu ZXu JYang CChu HCheng Q(2022)A Novel Disassembly Strategy of Hexagonal Screws Based on Robot Vision and Robot-Tool Cooperated MotionApplied Sciences10.3390/app1301025113:1(251)Online publication date: 25-Dec-2022
https://doi.org/10.3390/app13010251
Poschmann HBrüggemann HGoldmann D(2021)Fostering End-of-Life Utilization by Information-driven Robotic DisassemblyProcedia CIRP10.1016/j.procir.2021.01.10498(282-287)Online publication date: 2021
https://doi.org/10.1016/j.procir.2021.01.104
Schleicher TBullinger A(2018)Assistive Robots in Highly Flexible Automotive Manufacturing ProcessesProceedings of the 20th Congress of the International Ergonomics Association (IEA 2018)10.1007/978-3-319-96068-5_23(203-215)Online publication date: 8-Aug-2018
https://doi.org/10.1007/978-3-319-96068-5_23

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Depth Sensor Placement for Human Robot Cooperation

Automatic fine motor control behaviours for autonomous mobile agents operating on uneven terrains

Toward cognitive robot companions

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