clothpositioning 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.

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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:

These operations are referred to as indirect simultaneous positioning . Distributed manipulation system is developed for this positioning.

In the indirect simultaneous positioning, the location of positioned points are measured by a vision system and the location of manipulated points are controlled using the location of positioned points. A novel control law based on a coarse model of an extensible fabric is proposed to perform the positioning. This control law is robust against model errors so that the indirect simultaneous positioning can be achieved even though an actual property of a fabric is different from that of a fabric model by ten times.

Control System for Indirect Simultaneous Positioning


Name Title Degree
Hiroshige Mori Graduated Master of Eng.


Book Chapters


ISP of knitted fabric (mpg 1.5MB)

ISP system

Mechanical pinching fingers

2-DOF ISP of cloth

1-DOF ISP of cloth

Related Sites