Affordance Reasoning-based Sequence Planning Manner for Human-robot Collaborative Disassembly

被引：0
|
作者：
Yu, Weigang [1 ]
Wen, Sijie [1 ]
Li, Jianjun [1 ]
Li, Xinyu [1 ]
机构：
[1] College of Mechanical Engineering, Donghua University, Shanghai,201620, China
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 17期
关键词：
Due to the disturbance in human-robot collaborative disassembly (HRCD); such as scrambling disassembly tools by multiple robots and adjusting disassembly processes by humans; tools are often lacked or occupied for the current disassembly process and long waiting time is wasted if lack of flexible tool scheduling strategy; which impairs the efficiency of the HRCD process. Therefore; improving the ability of the robot for cognizing the current disassembly circumstance and recognizing the replaceable tools to generate the alternative solutions; counts for tackling the disturbance scenarios in HRCD. To this end; an affordance reasoning-based sequence planning manner for HRCD is proposed; which comprises three phases. Firstly; a knowledge graph is established with the structural data of products and process operating documents; so as to provide the operation and sequence information for HRCD tasks. Then; concerning a process that lacks essential tools; an affordance reasoning manner is proposed for the visual scenes of HRCD to offer the replaceable tools for this process. After that; an affordance reasoning-based sequence planning manner is designed to optimize the original disassembly sequence if tools have been replaced; trying to reduce the total disassembly time. Taking the HRCD of aging batteries in new energy vehicles as the experimental case to validate the performance of affordance-based detection and disassembly sequence planning. The results demonstrate that the proposed manner could provide accurate alternative solutions for tool replacement when essential tools are occupied; and could effectively reduce the time cost for the whole disassembly process; which enhances resilience and efficacy in HRCD. © 2024 Chinese Mechanical Engineering Society. All rights reserved;
D O I：
10.3901/JME.2024.17.297
中图分类号：
学科分类号：
摘要：
引用
收藏
页码：297 / 309
相关论文
共 50 条
  • [41] Human-robot collaboration disassembly planning for end-of-life power batteries
    Chu, Mengling
    Chen, Weida
    JOURNAL OF MANUFACTURING SYSTEMS, 2023, 69 : 271 - 291
  • [42] Object affordance based multimodal fusion for natural Human-Robot interaction
    Mi, Jinpeng
    Tang, Song
    Deng, Zhen
    Goerner, Michael
    Zhang, Jianwei
    COGNITIVE SYSTEMS RESEARCH, 2019, 54 : 128 - 137
  • [43] Affordance-based altruistic robotic architecture for human-robot collaboration
    Imre, Mert
    Oztop, Erhan
    Nagai, Yukie
    Ugur, Emre
    ADAPTIVE BEHAVIOR, 2019, 27 (04) : 223 - 241
  • [44] Dynamic Affect-Based Motion Planning of a Humanoid Robot for Human-Robot Collaborative Assembly in Manufacturing
    Rahman, S. M. Mizanoor
    ELECTRONICS, 2024, 13 (06)
  • [45] Bioinspiration in Affective Motion Planning of an Anthropomorphic Robot for Affect-Based Human-Robot Collaborative Manufacturing
    Rahman, S. M. Mizanoor
    2019 IEEE SOUTHEASTCON, 2019,
  • [46] An assembly sequence monitoring method based on workflow modeling for human-robot collaborative assembly
    Huang, Yu
    Liu, Daxin
    Liu, Zhenyu
    Kan, Pengcheng
    Li, Shaochen
    Tan, Jianrong
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2024, 133 (1-2): : 99 - 114
  • [47] Integration of Work Sequence and Embodied Interaction for Collaborative Work Based Human-Robot Interaction
    Tan, Jeffrey Too Chuan
    Inamura, Tetsunari
    PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013), 2013, : 239 - 240
  • [48] Human-robot collaboration in disassembly for sustainable manufacturing
    Liu, Quan
    Liu, Zhihao
    Xu, Wenjun
    Tang, Quan
    Zhou, Zude
    Duc Truong Pham
    INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 2019, 57 (12) : 4027 - 4044
  • [49] Human-Robot Collaborative Manipulation Planning Using Early Prediction of Human Motion
    Mainprice, Jim
    Berenson, Dmitry
    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 299 - 306
  • [50] Human-robot collaborative task planning for assembly system productivity enhancement
    Inkulu, Anil Kumar
    Bahubalendruni, M. V. A. Raju
    ROBOTIC INTELLIGENCE AND AUTOMATION, 2024, 44 (01): : 120 - 130
12345