Design and implementation of an adaptive process planner for disassembly processes

Eyal Zussman, Meng Chu Zhou

Research output: Contribution to journalArticle

62 Scopus citations

Abstract

This paper presents a methodology for designing and implementing disassembly plans and processes using Petri nets (PN's) for remanufacturing obsolete products. Process modeling and planning using PN's are discussed. The proposed PN's accommodate product topology and precedence relations during disassembly. Decision values are attached to PN's to enable consideration of uncertainty during process execution. The resulting planner guarantees the plan's optimality when product remanufacturing parameters are known. In cases of uncertainty about product parameters, an adaptation scheme is designed and implemented to facilitate the goal of maximum benefit. Three planning and execution algorithms (globally fixed, limited adaptive, adaptive) are presented for disassembly processes. They are demonstrated comprehensively through a robotic disassembly system, and its use is demonstrated in disassembly of a car radio.

Original languageEnglish (US)
Pages (from-to)171-179
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Volume16
Issue number2
DOIs
StatePublished - Dec 3 2000

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All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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