Edge Tracing of T-Shirt by Robot for Spreading Purposes
Edge tracing is considered important for deformable object manipulation in order to spread and reveal the original shape of an object before it can be sorted. This paper proposes a unique tracing method for tshirt spreading by robots. Tracing in this paper context involves tracing the edge of the t-shirt, with the robot arm movement based on feedback from sensors. Adequate force control is also applied to the tracing gripper during tracing so that it doesnt grip the fabric too hard or vice versa which can affect the performance of the robot. Vision sensor is used from time to time to check whether the tracing gripper has reached a corner or not. Based on the algorithm used for towel spreading, algorithm for edge tracing of shirt to find a second or third corner is proposed. The method is simply looking at possibilities of tracing through corners, changing tracing trajectory as well as tracing on two layers of fabric. Practical experiments were conducted to evaluate the proposed method.
Deformable object manipulation edge tracing t-shirt spreading corner detection home service robot
Khairul Salleh Mohamed Sahari Hiroaki Seki
Department of Mechanical Engineering, Universiti Tenaga Nasional, Jalan IKRAM-UNITEN,43000 Kajang, S School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa
国际会议
2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)
香港
英文
1190-1194
2011-12-27（万方平台首次上网日期，不代表论文的发表时间）