Trajectory Planning for Porcine Abdomen Cutting Based on an Improved Genetic Algorithm and Machine Vision for Industrial Robot

For pork production line, an automation method of porcine abdomen cutting is studied. The automatic cutting system consists of a 6-DOF industrial manipulator, customized tools, PC, 2D camera and rack. By calibrating the tool frame, user frame and camera, the spatial position and orientation relations of hand-target-eye are established. With the feature identification algorithm, the porcine abdomen curve can be extracted from the image and fitted with quintic spline curve. Sectional trajectories of the spline curve are planned based on the biological features of porcine cavum peritonaei and the improved genetic algorithm (GA). Finally, the trajectory planning results are transformed into Cartesian space according to their spatial relations for programming. The purpose of the experiment is to use the proposed method to perform efficient abdomen cutting without organ damage, which is benefit for subsequent treatment of carcase and tharm. The experiment results show that the porcine abdomen cutting method for industrial robot is superior to manual cutting in efficiency and precision, and meets the demands of pork production line.