Robotic Cutting: Mechanics and Control of Knife Motion
Robotic Cutting: Mechanics and Control of Knife Motion
复制标题
机器人切割：刀具运动的力学和控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Yan
中科院分区：
文献类型：
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作者：
Xiaoqian Mu;Yuechuan Xue;Yan
切割的有效性是通过平稳的刀具运动实现材料断裂的能力来衡量的。刀具所做的功克服了材料的韧性，克服了刀片与材料的摩擦，并产生了形状变形。本文研究了如何控制一个2自由度的机器人手臂配备了一个力/扭矩传感器，通过三个动作的顺序切割对象：按，推，和切片。对于每一个动作，在笛卡尔空间中的一个单独的控制策略被设计成在遵循一些规定的轨迹的同时结合接触和/或力约束。对几种天然食物进行的实验已经证明了像人手一样的平滑运动。
Effectiveness of cutting is measured by the ability to achieve material fracture with smooth knife movements. The work performed by a knife overcomes the material toughness, acts against the blade-material friction, and generates shape deformation. This paper studies how to control a 2-DOF robotic arm equipped with a force/torque sensor to cut through an object in a sequence of three moves: press, push, and slice. For each move, a separate control strategy in the Cartesian space is designed to incorporate contact and/or force constraints while following some prescribed trajectory. Experiments conducted over several types of natural foods have demonstrated smooth motions like would be commanded by a human hand.