Peg-Hole Robotic Disassembly Compliant Strategy based on Soft Actor-Critic Algorithm

Abstract

Disassembly is a vital process in remanufacturing the end-of-life products and robotic disassembly is an effective way to improve the remanufacturing efficiency. Peg-hole robotic disassembly is quite common during disassembling the products, in which the disassembly force may rapidly increase due to unsuitable controlling parameters. To protect the robot from damage caused by excessive disassembly force, compliant disassembly strategy should be considered. In this paper, soft actor-critic algorithm is utilized to achieve the compliant strategy. First, the framework of proposed method is established to provide a basic structure which includes the digital model, soft actor-critic model for dynamic decision-making and data transmission method. Then, robotic disassembly compliant strategy based on soft actor-critic is proposed. Afterwards, case study is conducted to validate the proposed method, and its performance is analyzed. The results indicate that the converged soft actor-critic model helps to greatly reduce the disassembly force during disassembling the peg-holes and peg-hole robotic disassembly compliant strategy is realized.