TY - GEN
T1 - Force/vision control for robotic cutting of soft materials
AU - Long, Philip
AU - Khalil, Wisama
AU - Martinet, Philippe
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - In this paper, a force/vision control strategy is proposed in order to separate soft deformable materials using cooperative robots. The separation is performed by repeating a series of cuts, called passages, along a curved trajectory. The vision control is used to locally update the robot trajectory in response to both on-line deformations and off-line modeling errors. The force controller is used to ensure that the cut is performed without global deformation or damage to the surrounding area. The second robot is used to facilitate the cutting by applying external forces to the object. The control scheme is validated experimentally by cutting soft foam material.
AB - In this paper, a force/vision control strategy is proposed in order to separate soft deformable materials using cooperative robots. The separation is performed by repeating a series of cuts, called passages, along a curved trajectory. The vision control is used to locally update the robot trajectory in response to both on-line deformations and off-line modeling errors. The force controller is used to ensure that the cut is performed without global deformation or damage to the surrounding area. The second robot is used to facilitate the cutting by applying external forces to the object. The control scheme is validated experimentally by cutting soft foam material.
UR - http://www.scopus.com/inward/record.url?scp=84911486073&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943233
DO - 10.1109/IROS.2014.6943233
M3 - Conference contribution
AN - SCOPUS:84911486073
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4716
EP - 4721
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -