A self-evolving system for robotic disassembly sequence planning under uncertain interference conditions

Fei Ye, James Perrett, Lin Zhang, Yuanjun Laili, Yongjing Wang

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Robotic disassembly sequence planning (DSP) is a research area that looks at the sequence of actions in the disassembly intending to achieve autonomous disassembly with high efficiency and low cost in remanufacturing and recycling applications. A piece of key input information being factored in DSP is the interference condition of a product, i.e., a mathematical representation of the spatial location of components in an assembly, usually in the form of a matrix. An observed challenge in the area is that the interference condition can be uncertain due to variations in the end-of-life conditions, and there is a lack of tools available in DSP under uncertain interference. To address this challenge, this paper proposes a new DSP method that can cope with uncertain interference conditions enabled by the fuzzification of DSP (FDSP). This new approach in the core is a fuzzy and dynamic modeling method in combination with an iterative re-planning strategy, and FDSP offers the capability for DSP to adapt to failures and self-evolve online. Three products are given to demonstrate FDSP.

Original languageEnglish
Article number102392
Number of pages14
JournalRobotics and Computer-Integrated Manufacturing
Early online date3 Jun 2022
Publication statusPublished - Dec 2022

Bibliographical note

Funding Information:
This work is supported by the National Key Research and Development Program of China (Grant No. 2018YFB1700603 ), the National Natural Science Foundation of China (NSFC) (Grant No. 62173017 ), the Royal Society ( IEC\NSFC\181018 ), and by the Engineering and Physical Sciences Research Council (EPSRC) under the funded projects AUTOREMAN ( EP/N018524/1 ) and ATARI ( EP/W00206X/1 ).

Publisher Copyright:
© 2022


  • Dual-loop self-evolving
  • Fuzzification
  • Robotic disassembly
  • Sequence planning
  • Uncertain interference

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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