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流程中的新兴趋势，其需借助先进技术辅助工人完成重复性体力操作，并处理老化及潜在损坏的零部件。然而在拆解磨损或损坏部件时，机器人可能产生意外行为，因此实现与人类及环境无害共生的物理交互至关重要。本研究从控制层面应对该挑战，确保非预期交互与接触丢失场景下的安全被动行为。所提算法采用具有能量缩放与阻尼注入功能的能量感知笛卡尔阻抗控制器，并配备限制控制器至机器人能量流动的增强型能量罐。该控制器在Franka Emika Panda机器人执行的含缺陷松动螺丝真实任务中进行了评估，并与标准阻抗控制器及混合力-阻抗控制器进行对比。结果表明该算法在人机协作拆解任务中具有极高潜力。