A Robotic Collaborative Sewing System Based on Visual and Force Perception
FU Tianyu1, LI Fengming1,2, CUI Tao1, SONG Rui1, WANG Yanhong1
1. School of Control Science and Engineering, Shandong University, Ji'nan 250061, China; 2. School of Information and Electrical Engineering, Shandong Jianzhu University, Ji'nan 250101, China
付天宇, 李凤鸣, 崔涛, 宋锐, 王艳红. 基于视觉／力觉的机器人协同缝制系统[J]. 机器人, 2022, 44(3): 352-360.DOI: 10.13973/j.cnki.robot.210414.
FU Tianyu, LI Fengming, CUI Tao, SONG Rui, WANG Yanhong. A Robotic Collaborative Sewing System Based on Visual and Force Perception. ROBOT, 2022, 44(3): 352-360. DOI: 10.13973/j.cnki.robot.210414.
Abstract：The automation of the sewing process in garment manufacturing industry is at a low level. For this problem, an intelligent sewing system in which the robot cooperates with the sewing machine based on visual and force perception information is designed and built to realize automatic sewing of various polygon fabrics. A fabric feature extraction method based on corner detection is used to realize trajectory planning for robotic sewing. Based on the hybrid position/force control strategy, collaborative operation of the robot and the sewing machine in sewing process is realized to ensure the sewing quality. Finally, the effect of the single-side robotic sewing and the overall effect of sewing the polygon fabric edge at different speeds are tested. The experimental results show that the designed robotic sewing system can realize the collaborative sewing of the two machines at different speeds. The error of the distance from the stitch to the fabric edge is less than 2mm, the error of stitch distance is less than 0.5mm, and the error of the total stitch length is less than 1.6cm.
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