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：人机协作拆卸是电子与机械产品可持续回收过程中的新兴趋势，需要借助先进技术辅助工人完成重复性体力操作，并处理磨损及潜在损坏的部件。然而，在拆解旧损部件时可能出现意外的机器人行为，因此与人和环境实现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，确保在非预期交互和接触缺失场景中的安全与被动行为。所提算法基于一种具备能量缩放与阻尼注入特性的能耗感知笛卡尔阻抗控制器，并引入扩展能量罐以限制从控制器到机器人的功率流。通过使用Franka Emika Panda机器人执行真实场景中的故障螺丝拆解任务，将该控制器与标准阻抗控制器及混合力-阻抗控制器进行对比实验。结果表明，该算法在人机协作拆卸任务中具有显著潜力。