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Robotic Meat Cutting


In this paper, the modeling, simulation and control of a robotic meat cutting cell is described. A multi-arm system is used in the separation task. A control scheme, using vision and force sensors, is proposed that copes with on-line object deformation. The control scheme and modeling process draws on those currently in use in the field of medical simulation. However the global objectives are fundamentally different. The contributions of this work are twofold. Firstly the modeling of a robotic cell that accurately represents the interactions and challenges of the meat cutting environment. Secondly, this cell is used as a pre-experimental testing system for a proposed multi-arm control scheme, exploiting vision, force and redundancy to complete the task.


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Dates and versions

hal-02463414 , version 1 (31-01-2020)


  • HAL Id : hal-02463414 , version 1


Philip Long, Amine A Moughlbay, Wisama Khalil, Philippe Martinet. Robotic Meat Cutting. ICT-PAMM Workshop, Nov 2013, Kumamoto, Japan. ⟨hal-02463414⟩
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