Analytical Model of the Cutting Process with Scissors-robot for Haptic Simulation

In this paper, an analytical model for cutting process of a plate of material with a pair of scissors is presented. The cutting model predicts that, during task, force/torque responses of the scissors depend on the toughness and geometry of the plate. A force/position control law for a pair of scissors in contact with a partially known environment is proposed. The environment is a rigid plate of material of known geometry but of unknown pose. A strategy for online estimation of the object pose is adopted, based on visual data provided by direct observation as well as on forces measured during the interaction with the environment. This information is used by a hybrid force/position control strategy of the scissors haptic system.