By Topic

Parallel process decomposition of a dynamic manipulation task: robotic sewing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Gershon, D. ; Israel Inst. of Technion., Haifa, Israel

Parallel decomposition of manipulation tasks that involve interaction with a dynamic environment is investigated. A methodology for developing concurrent process controllers for such tasks is outlined. A concurrent process control system was developed for a robotic sewing cell that produced an edge seam on a fabric panel with arbitrary edge curvature. Although a conventional sewing machine sewed up the fabric, a robot arm manipulated the panel to modify its orientation and control fabric tension. The sewing task was decomposed into four concurrent processes within a superposition parallel architecture. Although each process was based on simple linearized models, the complete system demonstrated robustness to the unpredictable dynamic behavior of the fabric panel

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:6 ,  Issue: 3 )