The disassembly of products for they reuse is an important field of research. One aspect that appears when a product is been disassembled is the uncertainty in the trajectories for the removal of a component from the rest of the product. In order to reduce this lack of information, a multi-sensorial system is proposed. This system uses visual and force-sensor information to avoid the unknown factors in the disassembly plan and correct the trajectories generated which are based on the model of the product. This paper also describes the structure of a de-manufacturing system that can perform the desired disassembly task.
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