This research paper discusses the optimization of sequences for semi-automated robotic disassembly operations. The authors use a many-objective genetic algorithm (MaOGA), inspired by the Non-dominated Sorting Genetic Algorithm (NSGA)-III. This approach includes constraints and objective functions derived from geometrical and robot simulations using 3-dimensional (3D) geometrical information from a 3D Computer-Aided Design (CAD) model of the product targeted for disassembly. The method has proven successful in generating feasible and stable sequences for complex product disassembly, with a 100% success rate.
Publication date: 5 Jan 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2401.01817
