Cloth Positioning Heads: Shinichi Hirai Contact: Takahiro Wada Date: 1995 - 1999 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group: Kawamura Lab.

Project Description

The goal of this project is to derive operation strategy and control law for the positioning of multiple points on an extensible cloth. Distributed manipulation system is developed for this positioning and a novel control law for the positioning is derived based on a coarse model of a cloth.

Many operations in garment industry require the guidance of multiple points on a fabric. Moreover, the points cannot be manipulated directly and the guidance must be performed by controlling the location of points except the positioned points. Namely, the guidance has the following difficulties:

• must guide multiple points simultaneously
• cannot manipulate positioned points directly

Control System for Indirect Simultaneous Positioning

Personnel

	Name	Title	Degree
	Hiroshige Mori	Graduated	Master of Eng.

Publications

• Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects without Physical Parameters or Time-Derivatives, Eiji Arai and Tatsuo Arai eds., Mechatronics for Safety, Security and Dependability in a New Era, 978-0-08-044963-0, Elsevier Science Ltd, pp.81-86, 2006
• Takahiro Wada, Shinichi Hirai, Hiroshige Mori, and Sadao Kawamura, Robust Manipulation of Deformable Objects Using Model Based Technique, Hans-Hellmut Nagel and Francisco J. Perales López eds., Articulated Motion and Deformable Objects, 978-3-540-67912-7, Springer-Verlag, Lecture Note in Computer Science 1899, pp.1-14, 10.1007/10722604_1, 2000

• Shinichi Hirai and Takahiro Wada, Indirect Simultaneous Positioning of Deformable Objects with Multi Pinching Fingers Based on Uncertain Model, Robotica, Vol.18, No.1, Millennium Issue on Grasping and Manipulation, pp.3-11, 10.1017/S0263574799002362, Jan., 2000

• Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects by Redundant Fingers without Physical Parameters, Complex Systems Intelligence and Modern Technological Applications (CSIMTA 2004), pp.509-514, Cherbourg, France, Sept. 19-22, 2004
• Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects without Physical Parameters and Time-Derivatives, Int. Conf. on Machine Automation (ICMA2004), pp.69-74, Suita, Japan, Nov. 24-26, 2004
• Takahiro Wada, Shinichi Hirai, Sadao Kawamura, and Norimasa Kamiji, Robust Manipulation of Deformable Objects By a Simple PID Feedback, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.1, pp.85-90, 10.1109/ROBOT.2001.932534, Seoul, Korea, May 21-26, 2001
• Takahiro Wada, Shinichi Hirai, Sadao Kawamura, Norimasa Kamiji, and Kazuyoshi Tsukamoto, Robust Manipulation of Deformable Objects By A Simple Position Feedback, Proc. 5th Japan-France/3rd Asia-Europe Congress on Mechatronics, pp.187-191, Besancon, France, Oct., 2001
• Takahiro Wada, Shinichi Hirai, Hiroshige Mori, and Sadao Kawamura, Robust Manipulation of Deformable Objects Using Model Based Technique, First Int. Workshop on Articulated Motion and Deformable Objects (AMDO 2000), pp.1-14, Palma de Mallorca, Spain, Sept. 7-9, 2000
• Takahiro Wada, Shinichi Hirai, and Sadao Kawamura, Planning and Control of Indirect Simultaneous Positioning Operations for Deformable Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.2572-2577, 10.1109/ROBOT.1999.773984, Detroit, MI, U.S.A., May 10-15, 1999
• Shinichi Hirai, Takahiro Wada, and Sadao Kawamura, Control and Planning in Indirect Simultaneous Positioning of Multiple Points on Deformable Objects, Proc. IEEE Int. Symp. on Assembly and Task Planning, pp.219-225, 10.1109/ISATP.1999.782962, Porto, Portugal, July 21-24, 1999
• Takahiro Wada, Shinichi Hirai, and Sadao Kawamura, Indirect Simultaneous Positioning Operations of Extensionally Deformable Objects, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp.1333-1338, 10.1109/IROS.1998.727484, Victoria, BC, Canada, Oct. 13-17, 1998
• Takahiro Wada, Shinichi Hirai, Tatsuya Hirano, and Sadao Kawamura, Modeling of Plain Knitted Fabrics for Their Deformation Control, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.1960-1965, 10.1109/ROBOT.1997.619085, Albuquerque, NM, U.S.A., Apr. 20-25, 1997

Notes

ISP of knitted fabric (mpg 1.5MB)

ISP system

Mechanical pinching fingers

2-DOF ISP of cloth

1-DOF ISP of cloth

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