Robot deboning for beef forequarters

摘要

SUMMARY Initial development of a robotic meat cutting system based on force feedback control and continuous path planning is described. Forequarter beef cutting is attempted where each carcass processed will be compared to a database containing cut information for previously processed beef carcasses. Using the database information, cut start and end points can be defined along with initial path direction for each cut. A robot then drives a powered knife through the carcass utilising force feedback control to follow bone profiles, thus removing meat from the forequarter. An original cutting scheme suitable for robotic butchery of a beef forequarter is defined, along with a notation scheme for describing the cutting procedures.