Polygonal Approximation of Fabrics with Curved Edges based on Genetic Algorithms for Robot Handling towards Sewing
نویسندگان
چکیده
This paper proposes a polygonal approximation of a fabric with curved edges based on Genetic Algorithms. The main task is to handle the fabric in the sewing process with the exclusive use of robots without human intervention. This is achieved using a visual servoied manipulator controller to guide the fabric along the sewing line. The task of the end-effector is to manipulate a randomly located fabric on a table and feed it to the sewing needle along the desired seam. Using Genetic Algorithms, the curve is approximated by a polygon section. The main goal is to find the polygonal approximation of the curve with the minimal number of vertices, such that the approximation error is no more than a specified value and move the fabric so that the seam coincide with the polygonal line. The experimental results demonstrate the efficiency and the robustness of the proposed approach.
منابع مشابه
Visual servoing controller for robot handling fabrics of curved edges
This paper proposes a visual servoing manipulator controller to guide fabrics during the sewing process. The task of the end-effector is to handle a randomly located fabric on a table and feed it to the sewing needle along the desired seam. The proposed system is capable of handling fabrics having straight line edges and curved edges with arbitrary curvatures. The vision system identifies the t...
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