Intelligent vision determination of material's wrinkles in robotized handling

An approach for the intelligent determination of the appeared wrinkles in the robotized handling of non-rigid materials such as fabrics is presented. A machine vision system reads the wrinkles and a robotic manipulator controller is used to eliminate the wrinkles of a fabric. The machine vision system is used in order to capture an image of the wrinkled or wrinkle-free fabric. The direction of a wrinkle is determined using the bio-mimetic technique of Neural Networks performing a necessary image processing. The Network has been trained with a set of wrinkled and wrinklefree fabric images; and is capable to recognize the direction of any wrinkle appeared in the fabric. The results show that the use of the proposed method passed on Neural Networks leads to the minimization of the image processed information.