A Modular Dual-Arm Robotic Cell for Disassembly and Repair of Industrial Control Electronics

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Industrial control electronics such as programmable logic controllers, servo drives and operator panels are routinely repaired in plant maintenance, but were never designed for automated disassembly. This paper presents a modular dual-arm robotic cell for repair-oriented disassembly, using two collaborative manipulators, interchangeable tools, red-green-blue-depth (RGB-D) and wristlevel perception, force/torque sensing and a Robot Operating System (ROS) 2- based control with Behavior Tree (BT) execution, teleoperation, digital-twin support and bounded learning-based contact skills. The process is decomposed into sequence planning, symbolic execution with fallbacks, force-limited tool skills, visual condition assessment and demonstration-based adaptation. A CADderived device graph encodes the disassembly order, access constraints, tools, feasible removal directions and verification states and converts them into operation objects for the BT and motion layers. Grounded in three representative devices, the cell covers screw removal, damaged-fastener fallback, snap-fit opening, connector release, cooperative printed circuit board (PCB) extraction and condition-based repair decisions. The main contribution is an architecture linking sequence knowledge, perception, verification and force-aware skills through one ROS 2 interface across simulation, teleoperation and real hardware.

Links and sources

• Official / arXiv page
• PDF from original source

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