Modelling of Robotic Disassembly Sequence Planning

This chapter discusses the prerequisites of robotic disassembly sequence planning as opposed to manual disassembly planning. Optimisation variables, objectives and constraints are summarised and modelled mathematically. Multiple disassembly operations with direction change and tool change, additional adjustment strategies, backup strategies, and human assistance are reflected in the models to deal with uncertainties in disassembly processes. The expected disassembly time and success rate of disassembly plans with uncertainties are formulated. The formulation reflects the possibility of failure in which disassembly may be terminated before all components are removed.