Knowledge driven mobile robots applied in the disassembly domain

Mobile robots can be used as a motivating and interesting tool to perform laboratory experiments within the context of mechatronics, microelectronics and control. Considering the disassembly as a vital and prospective industry domain, we use the mobile robots to automate the disassembly process. In our system, each mobile robot has particular skills and is supervised by an agent with related objectives and knowledge. An agent has an ontology-based world model, which is responsible to maintain the knowledge about the robot´s activities in relation to its environment as well as to its underlying software parts. The ontology is used to represent a specification of an agent´s domain knowledge. The system functionality is tested with three mobile robots having a task to disassembly a particular Lego construct.