Robotic Garment Folding: Precision Improvement and Workspace Enlargement

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235480" target="_blank" >RIV/68407700:21230/15:00235480 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00235480
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-22416-9_25" target="_blank" >http://dx.doi.org/10.1007/978-3-319-22416-9_25</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-22416-9_25" target="_blank" >10.1007/978-3-319-22416-9_25</a>

Result language
angličtina
Original language name
Robotic Garment Folding: Precision Improvement and Workspace Enlargement
Original language description
The trajectory performed by a dual-arm robot while folding a piece of gar ment was studied. The garment folding was improved by adopting here proposed novel circular folding trajectory, which takes the flexibility of the garment into account. The benefitlie s in an increased folding precision. In addition, several relaxations of the folding traject ory were introduced, thus enlarging the working space of the dual-arm robot. The new folding trajectory was experimentally verified and compared to the state-of-the-art methods. The advocated approach assumes that the folding trajectory and the robot arms constitute a closed kinematic chain. Closed loop planning techniques introduced recently enable planning of the folding task without solving the inverse kinematics in each planning step. This approach has favourable properties because the model used is extensible. For instance, it is possible to take into account the force/tension applied by the robot gr ippers to the held garment.
Czech name
—
Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Towards Autonomous Robotic Systems - 16th Annual Conference, TAROS 2015
ISBN
978-3-319-22415-2
ISSN
0302-9743
e-ISSN
—
Number of pages
12
Pages from-to
204-215
Publisher name
Springer
Place of publication
New York
Event location
Liverpool
Event date
Sep 8, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000363668900025

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