基于视觉/力觉的机器人协同缝制系统  

A Robotic Collaborative Sewing System Based on Visual and Force Perception

作　　者：付天宇 李凤鸣[1,2] 崔涛 宋锐 王艳红[1] FU Tianyu;LI Fengming;CUI Tao;SONG Rui;WANG Yanhong(School of Control Science and Engineering,Shandong University,Ji'nan 250061,China;School of Information and Electrical Engineering,Shandong Jianzhu University,Ji'nan 250101,China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东建筑大学信息与电气工程学院,山东济南250061

出　　处：《机器人》2022年第3期352-360,共9页Robot

基　　金：国家自然科学基金联合基金(U2013204);山东省重点研发计划(2019TSLH0302);山东省重大科技创新工程(2019JZZY010430)。

摘　　要：针对服装制造行业中缝制过程自动化程度较低的问题,基于视觉、力觉信息设计搭建了一种机器人与缝制设备协同工作的智能缝制系统,实现了多种多边织物的自动化缝制。采用基于拐点检测的织物特征提取方法,实现机器人缝制线迹规划;在此基础上基于力/位混合控制策略,实现缝制过程中机器人与缝纫机的协同作业,保证缝制质量。最后测试了不同转速下机器人单边缝制效果以及多边织物边缘整体缝制效果。实验结果表明,设计的机器人缝制系统可以实现不同转速下双机协同缝制,缝制线迹到面料边缘距离误差小于2 mm,针距误差小于0.5 mm,线迹总长度误差小于1.6 cm。The automation of the sewing process in garment manufacturing industry is at a low level. For this problem,an intelligent sewing system in which the robot cooperates with the sewing machine based on visual and force perception information is designed and built to realize automatic sewing of various polygon fabrics. A fabric feature extraction method based on corner detection is used to realize trajectory planning for robotic sewing. Based on the hybrid position/force control strategy, collaborative operation of the robot and the sewing machine in sewing process is realized to ensure the sewing quality.Finally, the effect of the single-side robotic sewing and the overall effect of sewing the polygon fabric edge at different speeds are tested. The experimental results show that the designed robotic sewing system can realize the collaborative sewing of the two machines at different speeds. The error of the distance from the stitch to the fabric edge is less than 2 mm, the error of stitch distance is less than 0.5 mm, and the error of the total stitch length is less than 1.6 cm.

关 键 词：机器人缝制 轨迹规划 力/位混合控制 协同控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]