Solutions for robotic disassembly sequence planning with backup actions

Yuanjun Laili, Yongjing Wang, Yilin Fang, Duc Truong Pham

Research output: Chapter in Book/Report/Conference proceedingChapter


Uncertainties in the end-of-life conditions of products make disassembly difficult to robotise. A key problem is that existing industrial automation techniques use pre-determined robotic processes which cannot deal with unforeseen failed disassembly operations. This chapter models the completion rate of a disassembly plan and introduces the concept of backup actions. The aim of this strategy is to allow a disassembly robot to recover from failures automatically, and thus improve the system’s robustness. Experimental results indicate that the incorporation of automatic backup actions can triple the completion rate of a plan. The proposed computational method also outperforms other popular evolutionary approaches.
Original languageEnglish
Title of host publicationOptimisation of Robotic Disassembly for Remanufacturing
PublisherSpringer, Cham
Number of pages20
ISBN (Electronic)9783030817992
ISBN (Print)9783030817985, 9783030818012
Publication statusPublished - Aug 2021

Publication series

NameSpringer Series in Advanced Manufacturing
PublisherSpringer, Cham
ISSN (Print)1860-5168
ISSN (Electronic)2196-1735


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