Title :
Vision-based automatic forming of rheological objects using deformation transition graphs
Author :
Tokumoto, Shinichi ; Saito, Takuya ; Hirai, Shinichi
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
Abstract :
Manipulative operations of rheological objects can be found in many industrial fields such as food industry and medical product industry. Automatic operations of rheological objects are eagerly required in these fields. In this paper, we realize a vision-based automatic forming of rheological objects using deformation transition graphs. First, we develop a forming machine of rheological objects with multi-degrees of freedom. Next, we analyze the forming processes of rheological objects. Then we introduce a deformation transition graph so that the forming processes can be described in a systematic manner. Finally, we propose a forming control method of a rheological object based on the deformation transition graph.
Keywords :
computer vision; food processing industry; forming processes; graph theory; automatic forming process; computer vision; deformable objects; deformation transition graphs; food processing industry; medical product industry; rheological objects; Elasticity; Food industry; Humans; Machinery production industries; Medical robotics; Rheology; Robotics and automation; Service robots; Shape; Viscosity;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932650