Abstract
In the EU about 10 millions of used cars have to be wrecked per year. So the disposal of these cars is of increasing importance in the next years. In a disassembly process for used cars one has to cope with the objects in an undefined state in contrast to the car production. For this purpose the use of vision-based control is motivated and a vision guided robotic system for an autonomous disassembly process is presented in this paper. An active stereo camera system is used as vision sensor. A combination of gray value and contour-based object recognition and a position measurement approach with implicit detection of occlusions is described. A system for the autonomous disassembly of wheels was successfully tested and shown in a final presentation. In this demonstrator a stereo vision system, a force–torque sensor, a task planning module, and a special unscrewing tool were integrated.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
