Sichtsystemgestützte vollautomatische Demontage mit einem Industrieroboter

Automatic disassembly of used workpieces presents an important step for recycling. Since the dismantling process is not sufficiently automated, a lot of this has to be done by hand. An automatic implementation of dissembly tasks needs a very flexible machinery to remove connections between components of the workpiece, and to transport the disassembled components. In addition, powerful sensors are needed, which are able to recognize the workpiece and to estimate its three-dimensional pose. We are developing a vision-based robot control system for automatic dismantling. Using a camera which is fixed at the robot hand, we can improve the positioning accuracy of the robot in order to remove connection elements like screws. Real-time image processing is done by parallel computers, which are closely connected to our image processing system MiniVISTA. A vision-based controller guides the robot for an accurate positioning of the disassembly tools.