Hybrid Robotic Control for Flexible Element Disassembly

This work proposes a robotic arm control for the disassembly of flexible elements. With this, a control solution is sought for handling paths of flexible elements where the application of an adequate force is necessary to ensure the physical integrity of the element. The proposal consists of an hybrid scheme to control the interaction between the robot end-effector and its environment, where the use of a global and a local planner helps to adapt a theoretical trajectory with real-time information during the execution of the task. The proposed control is implemented in a simulated environment on the robotic arms Franka Emika and KUKA LBR iiwa, resulting in trajectories that reduce the force in the flexible element.