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The robotic handling of non-rigid objects, such as fabrics, is a very complicated problem since it is very difficult to model and predict the behavior of the fabric. The non-linearity, the large deformations and the very low bending resistance of the fabrics increase the complexity and difficulty of the robotic handling. In this paper, the robotized sewing is examined, where the fabric must be held taut and unwrinkled. Actually, a constant tensional force, which must be applied to the fabric throughout the feeding to the sewing machine, affects the seam’s quality to a great extent. Gershon clearly justified the need for force feedback control, in order to obtain a fabric’s constant tensional force in the sewing task. brother professional multi needleembroidery machine
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 fabric during the sewing process. In each loop, the proposed controller calculates the appropriate robot end-effector displacement. A force sensor mounted on the wrist of the robot manipulator measures the actual force applied to the fabric, and the formulated force error is used in order to adapt the controllers’ parameters. Theperformance of the controller is investigated experimentally and the results show the effectiveness of the FMRL approach and its wide range of applications clickhere
