Multi-arm robot control system for manipulation of flexible materials in sewing operation

被引：26
|
作者：
Kudo, M
Nasu, Y
Mitobe, K
Borovac, B
机构：
[1] Yamagata Univ, Dept Mech Syst Engn, Yamagata 9928510, Japan
[2] Univ Novi Sad, Fac Tech Sci, YU-21000 Novi Sad, Yugoslavia
来源：
MECHATRONICS | 2000年 / 10卷 / 03期
关键词：
D O I：
10.1016/S0957-4158(99)00047-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new automated sewing system is described, consisting of two robots handling the fabric on the table in a similar manner as does a human operator during sewing. To enable user-friendly operation of the system operation, particularly in the phase of preparing new tasks, the original Multi-arm Robot Control (MRC) system has been developed. It incorporates a task-oriented robot language and graphical user interface to enable easy programming of complex motion such as hands coordination during task execution, fabric tension control, and synchronization with the sewing machine speed. To avoid possible collisions, simulation of the already programmed task can be easily performed. The control of hand coordination and the fabric tension has also been developed and implemented. To control seam path and its deviation from the desired trajectory, visual feedback was adopted. Complete system functioning was verified experimentally by sewing. (C) 2000 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：371 / 402
页数：32
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