Single arm robotic garment folding path generation. (17th December 2017)

• Record Type: Journal Article
• Authors: Petrík, Vladimír; Smutný, Vladimír; Krsek, Pavel; Hlaváč, Václav
• Is Part Of: Advanced robotics. Volume 31:Number 23/24(2018)
• Page Start: 1325
• Page End: 1337
• Publication Date: 2017-12-17
• Subjects: Robotic garment folding -- path generation -- Kirchhoff–Love shell; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2017.1367325
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: We address the accurate single arm robotic garment folding. The folding capability is influenced mostly by the folding path which is performed by the robotic arm. This paper presents a new method for the folding path generation based on the static equilibrium of forces. The existing approach based on a similar principle confirmed to be accurate for one-dimensional strips only. We generalize the method to two-dimensional shapes by modeling the garment as an elastic shell. The path generated by our method prevents the garment from slipping while folding on a low friction surface. We demonstrate the accuracy of this approach by comparing our paths (a) with the existing method when one-dimensional strips of different materials were modeled, and (b) experimentally with real robotic folding. Graphical Abstract: The paper proposes a robotic garment folding path generation procedure. It uses the garment model represented by a thin shell. The path computation seeks states satisfying a static equilibrium condition.