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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.
Cited literature [21 references]
https://hal.inria.fr/hal-02461924
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Friday, January 31, 2020 - 8:07:48 AM
Last modification on : Wednesday, April 27, 2022 - 4:16:29 AM
Long-term archiving on: : Friday, May 1, 2020 - 12:45:46 PM
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Friday, January 31, 2020 - 8:07:48 AM
Last modification on : Wednesday, April 27, 2022 - 4:16:29 AM
Long-term archiving on: : Friday, May 1, 2020 - 12:45:46 PM
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IROS14-LongP.pdf
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