Automated Cloth Handling Using Adaptive Force Feedback

[+] Author and Article Information
R. Patton

Mississippi State University, Mississippi State, MS 39762

F. Swern, S. Tricamo, A. van der Veen

Stevens Institute of Technology, Hoboken, NJ 07030

J. Dyn. Sys., Meas., Control 114(4), 731-733 (Dec 01, 1992) (3 pages) doi:10.1115/1.2897750 History: Received September 01, 1989; Revised January 01, 1992; Online March 17, 2008


In this paper, a control loop for the handling of cloth is described and tested. The control loop is an adaptive force feedback controller which both provides correct tension on the cloth and straightens wrinkles in the cloth. The control loop was implemented and tested on a PUMA 560 robot with a LORD 15/50 force/torque sensor mounted on its wrist. Experiments demonstrate the ability of the control loop to straighten the cloth and to exert a specified tension on the cloth.

Copyright © 1992 by The American Society of Mechanical Engineers
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