A fuzzy model reference adaptive controller for regulating the fabric’s tensional forces applied by a robot during
the sewing task is developed. The adaptive fuzzy logic controller closes the loop outside the internal scara robot controller.
The robot guides a piece of fabric in a conventional industrial sewing machine while its controller maintains a desired
constant tensional force applied to the fabric during the sewing process. In each loop, the proposed controller calculates the
appropriate robot end-effector displacement. A force sensor mounted on the wrist of the robot manipulator measures the
actual force applied to the fabric, and the formulated force error is used in order to adapt the controllers’ parameters. The
performance of the controller is investigated experimentally and the results show the effectiveness of the FMRL approach
and its wide range of applications.VS Enterprises
The robotic handling of non-rigid objects, such
as fabrics, is a very complicated problem since it is very
difficult to model and predict the behavior of the fabric.
The non-linearity, the large deformations and the very low
bending resistance of the fabrics increase the complexity
and difficulty of the robotic handling. In this paper, the
robotized sewing is examined, where the fabric must be
held taut and unwrinkled. Actually, a constant tensional
force, which must be applied to the fabric throughout the
feeding to the sewing machine, affects the seam’s quality
to a great extent . Gershon  clearly justified the need
for force feedback control, in order to obtain a fabric’s
constant tensional force in the sewing task.
While there is a big variety of force control
methods on handling of rigid objects, the robotic research
literature is not so rich concerning the handling of limp
successful guidance of fabrics towards sewing by a robot.
The robotic handling of fabrics, particularly sewing, is an
area with model uncertainty, non-linearity, with very
noisy force signals and fast varying characteristics. Since
no similar work has been found in this area, this paper
shows the wide application range of the FMRL approach https://www.vssewingmachine.in/