Weigl, Alexandra ; Seitz, Matthias (2023)
Vision assisted disassembly using a dexterous hand-arm-system: An example and experimental results.
In: IFAC Proceedings Volumes, 1994, 27 (14)
doi: 10.26083/tuprints-00023359
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | Vision assisted disassembly using a dexterous hand-arm-system: An example and experimental results |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1994 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 27 |
| Issue Number: | 14 |
| DOI: | 10.26083/tuprints-00023359 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | Future applications in automation of non-destructive disassembly processes - necessary and important for re-use of components - require highly sensorized and dexterous robot systems. The main elements of the presented system are a disassembly sequence planner using special elementary disassembly operations, a redundant hand-arm-system with fifteen degrees of freedom supplied by a six-axes robot and a three-fingered gripper, and a vision system used for offline grasp and motion planning as well as for online supervision. Besides a description of the overall system structure and explanation of the underlying ideas for special disassembly operations, the presentation of first results and experiences from disassembling some parts of a video camera recorder will be one of the centred points to be discussed. |
| Uncontrolled Keywords: | hand-arm-eye system, grasp planning, hand-arm-coordination, disassembly, vision |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233592 |
| Additional Information: | Zugl. Konferenzveröffentlichung: Fourth IFAC Symposium on Robot Control (SY.RO.CO. '94), 19.-21.09.1994, Capri, Italy |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 10 Mar 2023 10:15 |
| Last Modified: | 10 Aug 2023 08:44 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23359 |
| PPN: | 50813109X |
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