Cutting chicken fillets from a carcass is a repetitive and tedious task that engineers at SINTEF have automated using a robotic 3D vision system called the Gribbot. The system features a robot arm from Denso Robotics, a Kinect 2 camera from Microsoft and a compliant gripper. The Kinect 2 features an infrared 1080p wide-angle time of flight sensor that achieves a frame rate of 30 fps and a monochrome CMOS sensor that captures video data. Programming the robotic vision system was performed using LabVIEW from Na- tional Instruments and Denso's robotics software. In operation, a rotating transport system is used to present the carcass to the Kinect camera. The 3D camera scans the carcass and localizes the gripping point-where the gripper should start the scrapping as part of cutting the chicken fillet from the carcass. "Machine vision makes the entire procedure adaptive as it allows us to localize the gripping point of the fillet independently of the variations in size," says Ekrem Misimi, Research Scientist at SINTEF Trondheim, Norway.
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