TY - GEN
T1 - Robotic cutting of soft materials using force control & image moments
AU - Long, Philip
AU - Khalil, Wisama
AU - Martinet, Philippe
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - In this paper, a force/vision control strategy is proposed for the robotic cutting of soft materials. The separation is performed by repeating a series of cuts, called passages, along a deformable three dimensional curve. An image based visual servoing system is proposed to control all six degrees of freedom of the cutting tool. This allows the system to change the cutting depth and angle in response to changes in the profile of the surface. The force is used to ensure the cut is performed cleanly without globally deforming the soft material. The proposed controller is validated experimentally by cutting soft foam material.
AB - In this paper, a force/vision control strategy is proposed for the robotic cutting of soft materials. The separation is performed by repeating a series of cuts, called passages, along a deformable three dimensional curve. An image based visual servoing system is proposed to control all six degrees of freedom of the cutting tool. This allows the system to change the cutting depth and angle in response to changes in the profile of the surface. The force is used to ensure the cut is performed cleanly without globally deforming the soft material. The proposed controller is validated experimentally by cutting soft foam material.
UR - http://www.scopus.com/inward/record.url?scp=84949925727&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2014.7064351
DO - 10.1109/ICARCV.2014.7064351
M3 - Conference contribution
AN - SCOPUS:84949925727
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 474
EP - 479
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -