Robotic Task Oriented Knowledge Graph for Human-Robot Collaboration in Disassembly

摘要

Traditional disassembly methods, such as manual and robotic disassembly, are no longer competent for the requirement of the complexity of the disassembly product. Therefore, the human-robot collaboration concept can be introduced to realize a novel disassembly system, towards increasing the flexibility and adaptability of them. In order to facilitate the efficient and smooth human-robot collaboration in disassembly, it is necessary to make the disassembly system more intelligent. In this paper, a robotic knowledge graph is proposed to provide an assistant for those who lack the relevant knowledge to complete the disassembly task. By natural language processing method, this paper extracts entities and relationships from the disassembly data to build a knowledge base in the form of knowledge graph. Combining graph-based knowledge representation, a prototype system is developed for human to acquire, analyze and manage the disassembly knowledge. Finally, a case study demonstrates that the proposed robotic knowledge graph has savings in terms of disassembly time, idle time and human workload, and it can be applied to assist human operator in disassembly by providing human and robots with various kinds of the needed knowledge.