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Planning method for dismounting sequence of robot with uncertain interference

A robotic, uncertain technology

Pending Publication Date: 2022-07-29
铭之城科技(苏州)有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] Due to the complexity and iterative nature of genetic algorithms, most adaptive optimization methods do not appear to be useful for online decision-making; the bee colony algorithm combined with two pointer methods, although successful in combining cost and reliability prioritization with real-time decision-making, the technique lacks learning mechanism and thus gaps in predicting real-time uncertainties in product conditions and re-planning strategies; for this purpose a planning method for robotic disassembly sequences with uncertain disturbances is provided

Method used

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  • Planning method for dismounting sequence of robot with uncertain interference
  • Planning method for dismounting sequence of robot with uncertain interference
  • Planning method for dismounting sequence of robot with uncertain interference

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Embodiment

[0036] Example: see figure 1 , the present invention provides a technical solution: a method for planning the disassembly sequence of a robot with uncertain interference, firstly determining the mathematical representation of physical components in 2D space, analyzing the dynamic re-planning process of the algorithm, and solving the iterative estimation and sequence sorting scheme , a 3D case study to evaluate the algorithm; then through the fuzzy dynamic uncertainty matrix, combined with a re-planning strategy, the optimal disassembly sequence is defined according to the events that have occurred for planning;

[0037] The specific method steps are as follows:

[0038] Step 1: Generate compression feasibility, confidence and relationship matrices using initial conditions;

[0039] Step 2: Use Monte Carlo Forward Propagation to tidy the feasibility and confidence matrices, the normal distribution mean of the confidence and twice the standard deviation for summation and compre...

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Abstract

The invention discloses a method for planning a disassembly sequence of a robot with uncertain interference. The method comprises the following steps: firstly, determining mathematical representation of physical components in a 2D space, analyzing a dynamic re-planning process of an algorithm, solving an iterative estimation and sequence sorting scheme, and carrying out 3D case research to evaluate the algorithm; then, through the fuzzy dynamic uncertainty matrix, combining with a re-planning strategy, and according to an occurred event, defining an optimal disassembly sequence for planning; according to the method, the cost and reliability priority is combined with the real-time decision, the real-time uncertainty of the product condition is predicted and the strategy is re-planned through a learning mechanism, and the practice environment benefit is maximized.

Description

technical field [0001] The invention relates to the field of mechanical manufacturing, in particular to a planning method for a robot disassembly sequence with uncertain interference. Background technique [0002] The pursuit of automation and high efficiency of disassembly in the remanufacturing process promotes the research on disassembly sequence planning (DSP). Genetic algorithms generate optimized disassembly sequence plans from geometric descriptions of components. The real-time optimization is carried out through a swarm algorithm combined with a two-pointer approach. If a component fails during operation, the algorithm ignores the previously removed components and reconfigures the remaining components with a new disassembly sequence plan. [0003] Due to the complexity and iterative nature of genetic algorithms, most adaptive optimization methods do not seem to be able to be used for online decision-making; the bee colony algorithm combined with the two-pointer meth...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 冯立超冯亦非张依张国忠王永靖于雪梅朱文亮訾克明王华兵谢宁
Owner 铭之城科技(苏州)有限公司
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