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Basic behaviour control of the vision-based cognitive robotic disassembly automation

机译：基于视觉的认知机器人拆卸自动化的基本行为控制

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Purpose - The purpose of this paper is to develop an automated disassembly cell that is flexible and robust to the physical variations of a product. In this way it is capable of dealing with any model of product, regardless of the level of detail in the supplied information. Design/methodology/approach - The concept of cognitive robotics is used to replicate human level expertise in terms of perception and decision making. As a result, difficulties with respect to the uncertainties and variations of the product in the disassembly process are resolved. Findings - Cognitive functions, namely reasoning and execution monitoring, can be used in basic behaviour control to address problems in variations of the disassembly process due to variations in the product's structure particularly across different models of the product. Research limitations/implications - The paper provides a practical approach to formulating the disassembly domain and behaviour control of the cognitive robotic agent via a high-level logical programming language that combines domain-specific heuristic knowledge with search to deal with variations in products and uncertainties that arise during the disassembly process. Practical implications - Full disassembly automation that is flexible and robust to the uncertainties that may arise potentially replaces human labour in a difficult and hazardous task. Consequently, the disassembly process will be more economically feasible, especially in developed countries. Originality/value - The paper provides a practical approach to the basic cognitive functions that replicate the human expert's behaviour to the disassembly cell.
机译：目的-本文的目的是开发一种对产品的物理变化具有灵活性和鲁棒性的自动拆卸单元。这样，无论所提供信息的详细程度如何，它都可以处理任何型号的产品。设计/方法/方法-认知机器人技术的概念用于在感知和决策方面复制人类水平的专业知识。结果，解决了在拆卸过程中产品不确定性和变化方面的困难。调查结果-认知功能，即推理和执行监控，可用于基本行为控制中，以解决由于产品结构（尤其是产品的不同型号）的变化而引起的拆卸过程变化中的问题。研究的局限性/意义-本文提供了一种实用的方法，通过高级逻辑编程语言来制定认知机器人主体的反汇编域和行为控制，该语言将特定于域的启发式知识与搜索结合起来，以处理产品和不确定性的变化在拆卸过程中出现。实际含义-完全灵活的拆卸自动化解决了可能出现的不确定性，取代了人工，完成了艰巨而危险的工作。因此，拆卸过程在经济上将更加可行，尤其是在发达国家。原创性/价值-本文为将人类专家的行为复制到拆卸单元的基本认知功能提供了一种实用的方法。

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