Force/vision control for robotic cutting of soft materials - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year :

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.

Domains

Automatic
Fichier principal
Vignette du fichier
IROS14-LongP.pdf (971.43 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02461924 , version 1 (31-01-2020)

Identifiers

Cite

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⟩
36 View
214 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More