Automated cloth handling using adaptive force feedback

R. Patton; F. Swern; S. Tricamo; A. Van der Veen

doi:10.1115/1.2897750

Automated cloth handling using adaptive force feedback

R. Patton, F. Swern, S. Tricamo, A. Van der Veen

Research output: Contribution to journal › Article › peer-review

20 Scopus citations

Abstract

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.

Original language	American English
Pages (from-to)	731-733
Number of pages	3
Journal	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume	114
Issue number	4
DOIs	https://doi.org/10.1115/1.2897750
State	Published - Dec 1992
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Information Systems
Instrumentation
Mechanical Engineering
Computer Science Applications

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author = "R. Patton and F. Swern and S. Tricamo and {Van der Veen}, A.",

year = "1992",

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AB - 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.

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Automated cloth handling using adaptive force feedback

Abstract

ASJC Scopus subject areas

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