PATH GENERATION FOR ROBOTIC CUTTING OF CARCASSES

Definition of cut paths for the Production of primal joints from meat carcasses is an important requirement for automated meat processing. This paper presents methods for path prediction for cuts selected from the evisceration and butchery procedures in the production of pork meat. The cuts are separated into three categories: (1) those that pass through anatomical features of a carcass; (2) cuts that can be related to anatomical features but do not pass through these features; and (3) cuts that can only be extrapolated from a specific model fitted to individual carcasses according to the principal dimensions. Consideration is given to the relationships that exist between each cut and anatomical carcass features or dimensions. The procedures implemented take advantage of the approach taken by butchers who perform the cuts described. Trials have been conducted using an automated butchery system which generates cutter trajectories from the models developed in this paper. The system produces primal cuts considered acceptable and similar to those produced by butchers. Work continues to examine the industrial issues, particularly cutting speed and yield control.