Abstract
A new approach for flexible automated handling of fabrics in the sewing process is described, which focuses to control the cloth tension applied by a robot. The proposed hierarchical robot control system includes a Fuzzy decision mechanism combined with a Neuro-controller. The expert's actions during the sewing process are investigated and this human behavior is interpreted in order to design the controller. The Fuzzy Logic decision mechanism utilizes only qualitative knowledge concerning the properties of the fabrics, in order to determine the desired tensional force and the location of the robot hand on the fabric. A Neural Network controller regulates the fabric tension to achieve the desired value by determining the robot end effector velocity. The simulation results demonstrate the efficiency of the system as well as the robustness of the controller performance since the effects of the noise are negligible. The system capabilities are more evident when the controller uses its previously acquired “experience”.
Similar content being viewed by others
References
Bernardon, E. and Kondoleon, T. S.: Real time robotic control for apparel manufacturing, in: Conf. Proc. Robots 9, Vol. 1, Detroit, 1985, pp. 4-46.
Cox, E.: The Fuzzy Systems Handbook, A.P. Professional, 1994, pp. 248-249.
Dlaboha, I.: Robotics technology makes gains in apparel industry, Apparel World (1982), 17-20.
Gaetan, M.: Robots: Their potential in the apparel industry, Bobbin (1981), 83-92.
Gershon, D.: Parallel process decomposition of a dynamic manipulation task: Robotic sewing, IEEE Trans. Robotics Automat. 6(3) (1990), 357-367.
Gershon, D.: Strategies for robotic handling of flexible sheet material, Mechatronics 3(5) (1993), 611-623.
Gershon D. and Grosberg, P.: The buckling of fabrics during feeding into automatic sewing stations, J. Text. Inst. 83(1) (1992), 35-44.
Gershon, D. and Porat, I.: Robotic sewing using multi-sensory feedback, in: Proc. of the 16th Internat. Symp. on Industrial Robots, Brussels, 1986, pp. 823-834.
Gilbert, J. M., Taylor, P. M., Monkman, G. J., and Gunner, M. B.: Sensing in garment assembly, in: Mechatronics Design in Textile Engineering, NATO ASI Conference, Side, Turkey, 1995, pp. 291-308.
Hearle, J. W. S., Thwaites, J. J., and Amirbayat, J.: Mechanics of flexible fibre assemblies, in: Proceedings of the NATO Advanced Study Institute, Sijthoff and Noordhoff ASI Series, 1980.
Hebert, T. M., Valavanis, K. P., and Kolluru, R.: A robotic gripper system for limp materials manipulation: hardware and software development and integration, in: IEEE Internat. Conf. on Robotics and Automation, Albuquerque, 1997, pp. 15-21.
Kochan, A.: Moll: Sewing to perfection, Assembly Automation 16(1) (1996), 36-39.
Koustoumpardis, P. N. and Aspragathos, N. A.: Control and sensor integration in designing grippers for handling fabrics, in: 8th Internat. Workshop on RAAD' 99, Munich, Germany, 1999, pp. 291-296.
Koustoumpardis, P.N. and Aspragathos, N. A.: Neuro-control of force applied by a robot in fabric handling tasks, in: Proc. of the 8th IEEE Mediterranean Conf. on Control and Automation, Patras, Greece, 2000.
Makoto K., Yasuo N., Kazuhisa M., and Borovac, B.: Multi-arm robot control system for manipulation of flexible materials in sewing operation, Mechatronics 10(3) (2000), 371-402.
McWaters, S. D., Clapp, T. G., and Eischen, J. W.: Automated apparel processing, Internat. J. Clothing Science and Technology 6(5) (1994), 30-38.
Monkman, G. J.: Sensory integrated fabric ply separation, Robotica 14 (1996), 119-125.
Narendra, K. S.: Neural networks for control: Theory and practice, Proc. IEEE 84(10) (1996), 1385-1406.
Paraschidis, K., Fahantidis, N., Vassiliadis, V., Petridis, V., Doulgeri, Z., Petrou, L., and Hasapis, G.: A robotic system for handling textile materials, in: IEEE Internat. Conf. on Robotics and Automation, 1995, pp. 1769-1774.
Potluri, P. and Porat, I.: Low-stress fabric testing for process control in garment assembly. Application of robotics, Internat. J. Clothing Science Technology 8(1/2) (1996), 12-23.
Rosenberg, R. C. and Karnopp, D. C.: Introduction to Physical System Dynamics, McGraw-Hill, New York, 1983.
Stylios, G.: Intelligent textile and garment manufacture, Assembly Automation 16(3) (1996), 5-6.
Stylios, G. and Sotomi, J. O.: Thinking sewing machines for intelligent garment manufacture, Internat. J. Clothing Science Technology 8(1/2) (1996), 44-55.
Sun, Y. K. and Hwang, J.-N.: Neural network architectures for robotic applications, IEEE Trans. Robotics Automat. 5(5) (1989), 641-657.
Taylor, P. M.: Sensory Robotics for the Handling of Limp Materials, NATO ASI Series F64, Springer, Berlin/Heidelberg, 1990.
Tsourveloudis, N. C., Kolluru, R., Valavanis, K. P., and Gracanin, D.: Suction control of a robotic gripper: A neuro-fuzzy approach, J. Intelligent Robotic Systems 27(3) (2000), 251-235.
Wasserman, P. D.: Neural Computing Theory and Practice, Van Nostrand Reinhold, New York, 1989.
Zimmermann, H.-J.: Fuzzy Set Theory and Its Applications, Kluwer Academic, Dordrecht, 1996.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Koustoumpardis, P.N., Aspragathos, N.A. Fuzzy Logic Decision Mechanism Combined with a Neuro-Controller for Fabric Tension in Robotized Sewing Process. Journal of Intelligent and Robotic Systems 36, 65–88 (2003). https://doi.org/10.1023/A:1022331830053
Issue Date:
DOI: https://doi.org/10.1023/A:1022331830053