Modeling of the Natural Product Deboning Process Using Biological and Human Models
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One critical area in automation for commercial deboning systems for meat processing, is the inability of existing equipment to adapt to varying sizes and shapes of products. This usually results in less than desirable outcomes when measured in terms of yield of the operations. In poultry processing for example, the initial cut of wing-shoulder joints is the most critical step in the deboning process. Two approaches for determining a trajectory for the cut is presented. The first is a technique using x-ray and visual images to obtain a 2-D model that locates the shoulder joint with respect to the surface features of the product. The second approach is obtained by determining a 3-D cutting trajectory and the associated forces/torques using a motion analysis system and a force/torque sensor incorporated with a knife. We then discuss the potential application of these results in the design of an automated cutting system that uses the obtained trajectory as a nominal cutting path. The system would make'adjustments during the cut using force feedback so as to emulate the manual cutting process.