用于工业控制电子设备拆解与维修的模块化双臂机器人单元

中文摘要 AI 辅助

工业控制电子设备，如可编程逻辑控制器、伺服驱动器和操作员面板，通常在工厂维护中例行维修，但这些设备从未为自动化拆解而设计。本文提出了一种面向维修的模块化双臂机器人单元，该单元采用两个协作机械臂、可互换工具、红绿蓝深度（RGB-D）和腕部级感知、力/力矩传感，以及基于机器人操作系统（ROS）2的控制系统，该系统具备行为树（BT）执行、远程操作、数字孪生支持和基于学习的受限接触技能。该过程被分解为序列规划、带回退的符号执行、力受限工具技能、视觉状态评估和基于演示的适应。一个从CAD派生的设备图编码了拆解顺序、访问约束、工具、可行的移除方向和验证状态，并将其转换为用于行为树和运动层的操作对象。基于三个代表性设备，该单元涵盖了螺钉拆卸、损坏紧固件回退、卡扣打开、连接器释放、协作式印刷电路板（PCB）提取和基于状态的维修决策。主要贡献在于一种架构，该架构通过一个ROS 2接口，在仿真、远程操作和真实硬件之间，将序列知识、感知、验证和力感知技能连接起来。

英文摘要

Industrial control electronics such as programmable logic controllers, servo drives and operator panels are routinely repaired in plant maintenance, but were never designed for automated disassembly. This paper presents a modular dual-arm robotic cell for repair-oriented disassembly, using two collaborative manipulators, interchangeable tools, red-green-blue-depth (RGB-D) and wristlevel perception, force/torque sensing and a Robot Operating System (ROS) 2- based control with Behavior Tree (BT) execution, teleoperation, digital-twin support and bounded learning-based contact skills. The process is decomposed into sequence planning, symbolic execution with fallbacks, force-limited tool skills, visual condition assessment and demonstration-based adaptation. A CADderived device graph encodes the disassembly order, access constraints, tools, feasible removal directions and verification states and converts them into operation objects for the BT and motion layers. Grounded in three representative devices, the cell covers screw removal, damaged-fastener fallback, snap-fit opening, connector release, cooperative printed circuit board (PCB) extraction and condition-based repair decisions. The main contribution is an architecture linking sequence knowledge, perception, verification and force-aware skills through one ROS 2 interface across simulation, teleoperation and real hardware.

发表机构

• Karlsruhe University of Applied Sciences（卡尔斯鲁厄应用技术大学）

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