Experiments towards automated sewing with a multi-robot system

Schrimpf, Johannes; Wetterwald, Lars Erik

doi:10.1109/icra.2012.6224880

Cited by 41 publications

(23 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Sensor-based real-time control is used to hold a constant tension in the workpiece as well as to control the seam allowance. The system was presented in the attached publications "Experiments towards Automated Sewing with a Multi-Robot System" [SW12], "Real-Time System Integration in a Multi-Robot Sewing Cell" [SWL12] and "Real-Time Analysis of a Multi-Robot Sewing Cell" [SLM13].…”

Section: Automated Sewingmentioning

confidence: 99%

“…Preliminary experiments, presented in the attached publication "Experiments towards Automated Sewing with a Multi-Robot System" [SW12], show that there are large variations of the force response for clamped parts, cf. introduced by varying material thickness and shape.…”

Section: Design Criteriamentioning

confidence: 99%

“…Early experiments have shown that the feed speed can be influenced by temporal changes in the sewing force, cf. the attached publication "Experiments towards Automated Sewing with a Multi-Robot System" [SW12]. Another convenient way to influence the feed speed is through mechanical adjustment of the stitch length in the sewing machine.…”

Section: Velocity Synchronization and Corner Matchingmentioning

confidence: 99%

“…The dual robot, real-time sensor-based sewing cell described by Schrimpf et al (2012) [14] has a setup that uses PyMoCo trajectory generators.…”

Section: A Applicationsmentioning

confidence: 99%

“…The Universal Robots UR5 robot is used extensively in our laboratories, since it may be externally controlled and exhibits fairly low control delay and short motion response time; see [20]. Schrimpf et al (2012) [21] compares three different setups for real-time trajectory generation; one of which is PyMoCo and the others based on OROCOS kinematics. Though their experiments are performed on one PC using local loop back networking, and thus do not measure the over-the-wire performance, the comparison is instructive.…”

Section: Real-time Performancementioning

confidence: 99%

See 4 more Smart Citations

Real-time analysis of a multi-robot sewing cell

Schrimpf

Lind

Mathisen

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

View full text Add to dashboard Cite

SummaryThis PhD thesis presents topics related to sensor-based real-time robot control in applied automation.While in the past industrial challenges often could be solved with traditional robot programming methods, the industry looks more and more towards the automation of complex tasks that need real-time sensor-feedback in the control loop of the robot. This is especially important in applications where the workpiece shape or characteristics are uncertain or unknown. When working on such workpieces, the movement has to be adjusted in real-time, ie. while the robot is moving. To achieve this, sensors are added in the control loop of the robot.One challenge for the implementation of industrial solutions including real-time control is the lack of appropriate interfaces in most commercially available robots. When such interfaces are not present, in-house developed solutions can be used to access the low-level system of the robots, at least for research applications. These usually require modifications of the hardware, the software platform or both. Often, interfaces are implemented that allows for parts of the control loop being moved to an external PC. In this thesis, real-time interfaces for two different industrial manipulators are presented that are used for lab experiments and demonstrators. The real-time interfaces work position-based and have update frequencies of about 100 Hz. Ethernet UDP is used to communicate with the external controller platform. Experiments are presented that measure the delays in the low-level systems of the robots.To externally control the movement of the real-time controlled robots from an application controller, a trajectory generator is needed. This thesis gives an overview of three different on-line trajectory generators that were in-house developed. The real-time capabilities of the presented trajectory generators were analyzed in order to ensure that the requirement for response times of the real-time interfaces are met.Based on a presented real-time interface and trajectory generator, a iii iv test platform was built. The test platform demonstrates tracking of a line that is sketched on the workpiece. The robot tool is controlled to keep a fixed distance between tool and workpiece, while maintaining an orientation perpendicular to the workpiece surface. The line tracking is done using a line-of-sight based control method. Experiments are presented, measuring the delays in the robot-sensor system. The main part of this thesis is a presentation of an automated robotic sewing cell that demonstrates a case of sewing for the furniture industry. The system is able to sew together two parts with slightly different shapes. A two-robot solution is presented that controls the work pieces independently during the sewing operation. A force sensor is integrated in the control system to keep a constant sewing force. The seam allowance is controlled by an edge control system based on optical sensors that are mounted on the sewing machine. The real-time capabilities of the system are analyze...

show abstract

Section: Automated Sewingmentioning

confidence: 99%

Section: Design Criteriamentioning

confidence: 99%

Section: Velocity Synchronization and Corner Matchingmentioning

confidence: 99%

“…The dual robot, real-time sensor-based sewing cell described by Schrimpf et al (2012) [14] has a setup that uses PyMoCo trajectory generators.…”

Section: A Applicationsmentioning

confidence: 99%

Section: Real-time Performancementioning

confidence: 99%