Skip to Main content Skip to Navigation
Conference papers

Modeling & Control of a Meat-Cutting Robotic Cell

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [23 references]  Display  Hide  Download

https://hal.inria.fr/hal-02462116
Contributor : Philippe Martinet <>
Submitted on : Friday, January 31, 2020 - 10:09:21 AM
Last modification on : Wednesday, September 9, 2020 - 10:50:20 AM
Long-term archiving on: : Friday, May 1, 2020 - 1:08:36 PM

File

ICAR13-long.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Philip Long, Wisama Khalil, Philippe Martinet. Modeling & Control of a Meat-Cutting Robotic Cell. ICAR 2013 - 16th International Conference on Advanced Robotics, Nov 2013, Montevideo, Uruguay. pp.1-6, ⟨10.1109/ICAR.2013.6766471⟩. ⟨hal-02462116⟩

Share

Metrics

Record views

59

Files downloads

393