A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
A survey of the Hough transform
Computer Vision, Graphics, and Image Processing
Virtual disassembly of products based on geometric models
Computers in Industry
IEEE International Symposium on Electronics and the Environment
ISEE '04 Proceedings of the International Symposium on Electronics and the Environment
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
A Robotic-Driven Disassembly Sequence Generator for End-Of-Life Electronic Products
Journal of Intelligent and Robotic Systems
A force sensing tool for disassembly operations
Robotics and Computer-Integrated Manufacturing
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Flexible multisensorial systems are a very important issue in the current industry when disassembling and recycling tasks have to be performed. These tasks can be performed by a human operator or by a robot system. In the current paper a robotic system to perform the required tasks is presented. This system takes into consideration the distribution of the necessary tasks to perform the disassembly of a component using several robots in a parallel or in a cooperative way. The algorithm proposed to distribute the task among robots takes into consideration the characteristics of each task and the sequence that needs to be followed to perform the required disassembly of the product. Furthermore, this paper presents a disassembly system based on a sensorized cooperative robots interaction framework for the planning of movements and detections of objects in the disassembly tasks. To determine the sequence of the disassembly of some products, a new strategy to distribute a set of tasks among robots is presented. Subsequently, the visual detection system used for detecting targets and characteristics is described. To carry out this detection process, different well known strategies, such as matching templates, polygonal approach and edge detection, are applied. Finally, a visual-force control system has been implemented in order to track disassembly trajectories. An important aspect of this system is the processing of the sensorial information in order to guarantee coherence. This aspect allows the application of both sensors, visual and force sensors, co-ordinately to disassembly tasks. The proposed system is validated by experiments using several types of components such as the covers of batteries and electronic circuits from toys, and drives and screws from PCs.