Real-time system integration in a multi-robot sewing cell

Schrimpf, Johannes; Wetterwald, Lars Erik; Lind, Morten

doi:10.1109/iros.2012.6385655

Cited by 18 publications

(14 citation statements)

References 5 publications

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“…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%

“…This section explains the control system of the sewing demonstrator, presented in the attached publication "Real-Time System Integration in a Multi-Robot Sewing Cell" [SWL12].…”

Section: Control Systemmentioning

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%

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Real-time analysis of a multi-robot sewing cell

Schrimpf

Lind

Mathisen

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

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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...

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Section: Automated Sewingmentioning

confidence: 99%

“…This section explains the control system of the sewing demonstrator, presented in the attached publication "Real-Time System Integration in a Multi-Robot Sewing Cell" [SWL12].…”

Section: Control Systemmentioning

confidence: 99%

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Real-time analysis of a multi-robot sewing cell

Schrimpf

Lind

Mathisen

2013

2013 IEEE International Conference on Industrial Technology (ICIT)

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“…Extensive research on automated sewing has been performed in the apparel industry focusing on incorporating sensors and robots to augment the ability of conventional sewing machines. Relevant topics include fabric tension control for robot-assisted fabric feeding [4], sewing seam tracking using an optical sensor [5] or a camera system [6], multi-arm robotic sewing [7], and automatic sewing worklines [8]. These systems, however, constrained by the incorporation of conventional sewing machines, work only on a flat sewing table.…”

Section: Related Workmentioning

confidence: 99%

Robotic Sewing and Knot Tying for Personalized Stent Graft Manufacturing

Zhang

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a versatile robotic system for sewing 3D structured object. Leveraging on using a customized robotic sewing device and closed-loop visual servoing control, an all-in-one solution for sewing personalized stent graft is demonstrated. Stitch size planning and automatic knot tying are proposed as the two key functions of the system. By using effective stitch size planning, sub-millimetre sewing accuracy is achieved for stitch sizes ranging from 2mm to 5mm. In addition, a thread manipulator for thread management and tension control is also proposed to perform successive knot tying to secure each stitch. Detailed laboratory experiments have been performed to access the proposed instruments and allied algorithms. The proposed framework can be generalised to a wide range of applications including 3D industrial sewing, as well as transferred to other clinical areas such as surgical suturing.

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“…Intelligent robotic systems with multisensor feedback have been built to work in conjunction with traditional sewing machines. Important topics in this field include bimanual robotic sewing [10], fabric tension control, and seam tracking [20], [21]. To cope with environmental changes during the sewing process, various control strategies have been implemented, such as a fuzzy logic controller [9], a hybrid position/force control [10], or a leader/follower control strategy [19].…”

Section: Introductionmentioning

confidence: 99%

A vision-guided dual arm sewing system for stent graft manufacturing

Huang

Vandini

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents an intelligent sewing system for personalized stent graft manufacturing, a challenging sewing task that is currently performed manually. Inspired by medical suturing robots, we have adopted a single-sided sewing technique using a curved needle to perform the task of sewing stents onto fabric. A motorized surgical needle driver was attached to a 7 d.o.f robot arm to manipulate the needle with a second robot controlling the position of the mandrel. A learningfrom-demonstration approach was used to program the robot to sew stents onto fabric. The demonstrated sewing skill was segmented to several phases, each of which was encoded with a Gaussian Mixture Model. Generalized sewing movements were then generated from these models and were used for task execution. During execution, a stereo vision system was adopted to guide the robots to adjust the learnt movements according to the needle pose. Two experiments are presented here with this system and the results show that our system can robustly perform the sewing task as well as adapt to various needle poses. The accuracy of the sewing system was within 2mm.

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Real-time system integration in a multi-robot sewing cell

Cited by 18 publications

References 5 publications

Real-time analysis of a multi-robot sewing cell

Real-time analysis of a multi-robot sewing cell

Robotic Sewing and Knot Tying for Personalized Stent Graft Manufacturing

A vision-guided dual arm sewing system for stent graft manufacturing

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