Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with creaky and potentially damaged components. Nevertheless, when disassembling worn-out or damaged components, unexpected robot behaviors may emerge, so harmless and symbiotic physical interaction with humans and the environment becomes paramount. This work addresses this challenge at the control level by ensuring safe and passive behaviors in unplanned interactions and contact losses. The proposed algorithm capitalizes on an energy-aware Cartesian impedance controller, which features energy scaling and damping injection, and an augmented energy tank, which limits the power flow from the controller to the robot. The controller is evaluated in a real-world flawed unscrewing task with a Franka Emika Panda and is compared to a standard impedance controller and a hybrid force-impedance controller. The results demonstrate the high potential of the algorithm in human-robot collaborative disassembly tasks.

翻译：人机协作拆解是电子与机械产品可持续回收过程中的新兴趋势，它需要借助先进技术协助工人完成重复性体力操作，并处理因磨损或潜在损坏的组件。然而，在拆解老旧或损坏部件时，机器人可能产生意外行为，因此确保与人类及环境之间无害且共生的物理交互至关重要。本研究从控制层面应对这一挑战，通过在非预期交互和接触损失场景中保证安全且被动的行为。所提出的算法利用了一种具有能量缩放和阻尼注入功能的能量感知笛卡尔阻抗控制器，以及一个用于限制控制器向机器人传输功率流量的增强型能量罐。该控制器在Franka Emika Panda机器人上进行了实际缺陷螺丝拆卸任务评估，并与标准阻抗控制器及混合力-阻抗控制器进行了对比。结果表明，该算法在人机协作拆解任务中具有巨大潜力。