Vision-based automatic forming of rheological objects using deformation transition graphs

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.