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The paper presents a model and an algorithm for recognizing and handling articulated objects using industrial robots. The model is based on the skeleton of the object and it is used for recognition and to associate multiple grasping positions for robot handling. The object skeleton is a shape descriptor which preserves the topology of the object, even if the shape is changing. The model can associate...
A fuzzy model reference adaptive controller for regulating the fabric's tensional forces applied by a robot during the sewing task is developed. The adaptive fuzzy logic controller closes the loop outside the internal scara robot controller. The robot guides a piece of fabric in a conventional industrial sewing machine while its controller maintains a desired constant tensional force applied to the...
This paper presents the design of a neuro-fuzzy visual servoing controller for robot guiding fabrics with curved edges towards sewing. Fabrics comprising real cloths consist of curved edges of arbitrary curvatures that can not be standardized. To overcome this difficulty, the idea is to train the robot sewing system and to apply this methodology in a real-time operation environment. The proposed approach...
Flexible objects such as clothes are hard to be handled by robots. But the working conditions for laundry factories are severe because of dusts, heats and steams, and full automation systems which can handle clothes are required. To automate these factories, 3-D vision systems are dispensable to recognize the 3-D shape of flexible clothes. There are three steps to handle clothes by robots. They are...
A neural network force controller for regulating the fabric's tensional forces applied by a robot in fabric handling tasks is presented. The proposed controller enables the robot to apply a desired constant force to the fabric in a dynamically changing environment (fabric's variable and unknown velocity and length). A force sensor mounted on the wrist of the robot manipulator measures the actual force...
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