Design and implementation of an adaptive process planner for disassembly processes

This paper presents a methodology for designing and implementing disassembl y plans and processes using Petri nets (PN's) for remanufacturing obsolete products. Process modeling and planning using PN's are discussed. The propo sed PN's accommodate product topology and precedence relations during disas sembly. Decision values are attached to PN's to enable consideration of unc ertainty during process execution. The resulting planner guarantees the pla n's optimality when product remanufacturing parameters are known. In cases of uncertainty about product parameters, an adaptation scheme is designed a nd implemented to facilitate the goal of maximum benefit. Three planning an d execution algorithms (globally fixed, limited adaptive, adaptive) are pre sented for disassembly processes. They are demonstrated comprehensively thr ough a robotic disassembly system, and its use is demonstrated in disassemb ly of a car radio.