Skip to Main content Skip to Navigation
Conference papers

Force/vision control for robotic cutting of soft materials

Abstract : 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.
Document type :
Conference papers
Complete list of metadata

Cited literature [21 references]  Display  Hide  Download

https://hal.inria.fr/hal-02461924
Contributor : Philippe Martinet <>
Submitted on : Friday, January 31, 2020 - 8:07:48 AM
Last modification on : Wednesday, September 9, 2020 - 10:50:20 AM
Long-term archiving on: : Friday, May 1, 2020 - 12:45:46 PM

File

IROS14-LongP.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Philip Long, Wisama Khalil, Philippe Martinet. Force/vision control for robotic cutting of soft materials. IROS 2014 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Chicago, France. pp.4716-4721, ⟨10.1109/IROS.2014.6943233⟩. ⟨hal-02461924⟩

Share

Metrics

Record views

97

Files downloads

488