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

页码：371 / 402

页数：32

共 50 条

[41] Control Design of Shape Memory Alloy Based Multi-arm Continuum Robot Inspired by Octopus
Zheng, Tianjiang
Yang, Yawei
Branson, David T.
Kang, Rongjie
Guglielmino, Emanuele
Cianchetti, Matteo
Caldwell, Darwin G.
Yang, Guilin
[J]. PROCEEDINGS OF THE 2014 9TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2014, : 1108 - +
[42] Research on Collision Avoidance Control of Multi-Arm Medical Robot Based on C-Space
Zhao, Honghua
Zhao, Jian
Duan, Xingguang
Gong, Xuyin
Bian, Guibin
[J]. IEEE ACCESS, 2020, 8 : 93219 - 93229
[43] The experimental multi-arm pendulum on a cart: A benchmark system for chaos, learning, and control
Kaheman, Kadierdan
Fasel, Urban
Bramburger, Jason J.
Strom, Benjamin
Kutz, J. Nathan
Brunton, Steven L.
[J]. HARDWAREX, 2023, 15
[44] On the boundary control of a flexible robot arm
Morgül, Ö
[J]. PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2001, : 3856 - 3857
[45] The Handling and Spreading Algorithms of a Multi-arm Robot System for Automated Cloth Sheet Ironing Machine
Terada, Hidetsugu
Ishida, Kazuyoshi
Makino, Koji
Atsumi, Yasunori
[J]. MECHANISMS, TRANSMISSIONS AND APPLICATIONS, 2015, 31 : 291 - 300
[46] A modular, multi-arm concentric tube robot system with application to transnasal surgery for orbital tumors
Bruns, Trevor L.
Remirez, Andria A.
Emerson, Maxwell A.
Lathrop, Ray A.
Mahoney, Arthur W.
Gilbert, Hunter B.
Liu, Cindy L.
Russell, Paul T.
Labadie, Robert F.
Weaver, Kyle D.
Webster, Robert J., III
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2021, 40 (2-3): : 521 - 533
[47] Path Planning and Collision Avoidance for a Multi-Arm Space Maneuverable Robot
Chu, Xiaoyu
Hu, Quan
Zhang, Jingrui
[J]. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2018, 54 (01) : 217 - 232
[48] A study on flexible control of a robot hand gripper system for space manipulation
Kim, Wn-Goo
Le, Xuan-Thu
Han, Sung-Hyun
Ann, Jong-Guk
[J]. 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 1623 - +
[49] A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot
Zhu, Xiang-yu
Duan, Xing-guang
Chen, Chao
Liu, Tian-bo
Guo, Qing-bo
[J]. 2012 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS (ICAL), 2012, : 539 - 544
[50] On the Control of a Multi-robot System for the Manipulation of an Elastic Hose
Echegoyen, Zelmar
d'Anjou, Alicia
Grana, Manuel
[J]. BIOINSPIRED APPLICATIONS IN ARTIFICIAL AND NATURAL COMPUTATION, PT II, 2009, 5602 : 382 - 389

← 1 2 3 4 5 →