The trajectory performed by a dual-arm robot while folding a piece of garment 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 benefit lies in an increased folding precision. In addition, several relaxations of the folding trajectory 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 grippers to the held garment.
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