Abstract
This paper presents a novel robotic hanger system for the garment inspection of knitting production. This 3-DOF hanger consists of three groups of linkages which can freely move in the 2D plane. In order to thoroughly understand the structure and motion of the robotic hanger so as to facilitate control simulations and experiments, the mathematical dynamic model of the hanger is analyzed and derived by using the Lagrangian energy approach. Since the dynamic model is complex, coupled and nonlinear, the fuzzy tuned PID (FT-PID) algorithm is employed to establish the controller. This FT-PID controller is found to be less susceptible to the sensor noise, the variation of garment material and size. Therefore, it possesses a certain degree of robustness and adaptability. The simulation and experimental results validate the dynamic model and the effectiveness of the FT-PID control method through comparisons with the conventional PID controller.
Original language | English |
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Pages (from-to) | 9924-9938 |
Number of pages | 15 |
Journal | Expert Systems with Applications |
Volume | 38 |
Issue number | 8 |
DOIs | |
Publication status | Published - 1 Aug 2011 |
Keywords
- Fuzzy control
- Garment inspection
- Lagrangian method
- Robotic hanger
ASJC Scopus subject areas
- General Engineering
- Computer Science Applications
- Artificial Intelligence