Part grasping for automated disassembly

A robot grasp synthesis algorithm for automated disassembly is presented. The goal is to select grasping points in each part to be disassembled so that a previously planned disassembly sequence can be performed holding the parts firmly and avoiding collisions. The algorithm is structured in five steps in order to make it general enough to cope with different robot grippers and different geometrical data (2D or 3D). The system is learning based, and behaviour rules are automatically extracted from grasping examples given by the user, using mainly decision trees and nearest neighbour techniques. Some simulation experiments have been carried out and results with a two fingered robot gripper are presented.