Robotic Garment Folding: Precision Improvement and Workspace Enlargement

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/15:00235480

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Robotic Garment Folding: Precision Improvement and Workspace Enlargement

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Robotic Garment Folding: Precision Improvement and Workspace Enlargement

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Towards Autonomous Robotic Systems - 16th Annual Conference, TAROS 2015

ISBN

978-3-319-22415-2

ISSN

0302-9743

e-ISSN

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Počet stran výsledku

12

Strana od-do

204-215

Název nakladatele

Springer

Místo vydání

New York

Místo konání akce

Liverpool

Datum konání akce

8. 9. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000363668900025