Design of the Robot Application for Slicing Food into Equal-Mass Slices

Robots will become far more integral to human daily life in the future. In particular, the robot is used in various types of tasks in the food industry, for example, the partition of chicken breast. Applying robots is the solution to optimizing the production process because the traditional method, which is operated by human labor, is prone to error. The objective of this paper is to design and develop the robotic application to control the IAI Robot and depth camera for slicing a solid, which represents a chicken breast, into equal-mass slices perpendicular to the x-axis. The robotic application consists of four procedures: the settings of the operating system, the point cloud capture and transformation, the solid slicing algorithm, and the robot operation. Furthermore, we designed an experiment to estimate the error of each slice that is sliced using this developed robotic application. In terms of conclusion, the developed robotic application can be applied according to the objective of this paper, where the average percentage of error of a slice that is sliced from 100 grams of solid into two, three, and four equal-mass slices is approximately 0.77%, 2.64%, and 3.67%, respectively.