Robotic Deformable Object Cutting: From Simulation to Experimental Validation*
Abstract
In this paper, investigations into the robotic cutting of soft deformable materials are discussed. A force vision cooperative controller is proposed to deal with the object flexibility and uncertain modeling parameters. The control scheme is firstly tested within a simulator environment and then validated on an experimental cell. The construction of the simulator is described and the interaction with the deformable object discussed. Finally the results of the controller in simulation and experimentation are shown and the differences are discussed.
Domains
Automatic
Origin : Files produced by the author(s)
Loading...