Control and planning in indirect simultaneous positioning of multiple points on deformable objects

We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.