Modeling & control of a meat-cutting robotic cell

Philip Long; Wisama Khalil; Philippe Martinet

doi:10.1109/ICAR.2013.6766471

Modeling & control of a meat-cutting robotic cell

Philip Long, Wisama Khalil, Philippe Martinet

Nantes Université

Research output: Contribution to conference › Paper › peer-review

18 Citations (Scopus)

Abstract

In this paper, the modeling, simulation and control of a robotic meat cutting cell is described. A dual-arm system is used in the separation task, one arm cuts the meat along a deformable guide line while the second arm graps and pulls the meat to further increase the opening of the valley. The steps taken to model the cell in order to ensure a realistic interaction between the robots and the flexible object are outlined. A control scheme, using an external vision and force sensors, is proposed that copes with on-line object deformation. The proposed control scheme is validated using the simulator environment.

Original language	English
DOIs	https://doi.org/10.1109/ICAR.2013.6766471
Publication status	Published - 2013
Externally published	Yes
Event	2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay Duration: 25 Nov 2013 → 29 Nov 2013

Conference

Conference	2013 16th International Conference on Advanced Robotics, ICAR 2013
Country/Territory	Uruguay
City	Montevideo
Period	25/11/13 → 29/11/13

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10.1109/ICAR.2013.6766471

Cite this

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AB - In this paper, the modeling, simulation and control of a robotic meat cutting cell is described. A dual-arm system is used in the separation task, one arm cuts the meat along a deformable guide line while the second arm graps and pulls the meat to further increase the opening of the valley. The steps taken to model the cell in order to ensure a realistic interaction between the robots and the flexible object are outlined. A control scheme, using an external vision and force sensors, is proposed that copes with on-line object deformation. The proposed control scheme is validated using the simulator environment.

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Modeling & control of a meat-cutting robotic cell

Abstract

Conference

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