| 摘要 |
A robotic carcass processing system uses a pair of robotic arms having multiple axes of motion, a saw mounted thereon, and a control ler. The controller moves the saw in Cartesian space via inverse kinematics with interpolation control over the multiple axes of the robotic arm to synchronously move the saw relative to a carcass on an assembly l ine. The control ler also determines when one of the robotic arms has moved its saw out of a defined space to indicate that space is clear and to permit the other robotic arm to enter that space. A sensor on the assembly l ine identifies location of the absence of a supported carcass, a supported carcass that requires special handl ing, or weight or length of a carcass. The control ler sends a signal to the robotic arms to either effect a standard cut or to modify the standard cut at the identified location or carcass. |
