Modeling, design and analysis of a robot system for garment inspection

E. H.K. Fung; Long Cheng; Y. K. Wong; X. Z. Zhang; C. W.M. Yuen; Wai Keung Wong

doi:10.1115/IMECE2009-10448

Modeling, design and analysis of a robot system for garment inspection

E. H.K. Fung, Long Cheng, Y. K. Wong, X. Z. Zhang, C. W.M. Yuen, Wai Keung Wong

The Hong Kong Polytechnic University

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

Abstract

This paper presents the design and performance of a robot system that exerts a prescribed tension on fabrics to facilitate the inspection process. The robot system consists of a 3-DOF (degree-of-freedom) robotic hanger and an adaptive controller. In the hanger design, the second link is kept vertical, while that of the previous hanger has a redundant degree of freedom. In addition, this hanger has a shoulder link and a sleeve link that provide convenience for holding the garment. In the controller design, structure friction caused by joints and belt elasticity, which is non-linear in nature, are taken into consideration. Besides, the clothing stiffness also changes non-linearly with extension, which cannot be well handled by simple proportional-integral-derivative (PID) control. Due to these points, the fuzzy logic PID controller is chosen to deal with the non-linear features in this design. After establishing the system, the performance is analyzed by computer simulation, where different conditions are applied to compare fuzzy logic control with conventional PID control. The simulation results show that the fuzzy PID control method is effective in controlling the robot hanger and regulating the garment forces.

Original language	English
Title of host publication	Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009
Publisher	American Society of Mechanical Engineers (ASME)
Pages	49-56
Number of pages	8
Volume	10
Edition	PART A
ISBN (Print)	9780791843833
DOIs	https://doi.org/10.1115/IMECE2009-10448
Publication status	Published - 1 Jan 2010
Event	ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009 - Lake Buena Vista, FL, United States Duration: 13 Nov 2009 → 19 Nov 2009

Conference

Conference	ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009
Country/Territory	United States
City	Lake Buena Vista, FL
Period	13/11/09 → 19/11/09

ASJC Scopus subject areas

Mechanical Engineering

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10.1115/IMECE2009-10448

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Fung, E. H. K., Cheng, L., Wong, Y. K., Zhang, X. Z., Yuen, C. W. M., & Wong, W. K. (2010). Modeling, design and analysis of a robot system for garment inspection. In Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009 (PART A ed., Vol. 10, pp. 49-56). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2009-10448

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abstract = "This paper presents the design and performance of a robot system that exerts a prescribed tension on fabrics to facilitate the inspection process. The robot system consists of a 3-DOF (degree-of-freedom) robotic hanger and an adaptive controller. In the hanger design, the second link is kept vertical, while that of the previous hanger has a redundant degree of freedom. In addition, this hanger has a shoulder link and a sleeve link that provide convenience for holding the garment. In the controller design, structure friction caused by joints and belt elasticity, which is non-linear in nature, are taken into consideration. Besides, the clothing stiffness also changes non-linearly with extension, which cannot be well handled by simple proportional-integral-derivative (PID) control. Due to these points, the fuzzy logic PID controller is chosen to deal with the non-linear features in this design. After establishing the system, the performance is analyzed by computer simulation, where different conditions are applied to compare fuzzy logic control with conventional PID control. The simulation results show that the fuzzy PID control method is effective in controlling the robot hanger and regulating the garment forces.",

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Fung, EHK, Cheng, L, Wong, YK, Zhang, XZ, Yuen, CWM & Wong, WK 2010, Modeling, design and analysis of a robot system for garment inspection. in Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. PART A edn, vol. 10, American Society of Mechanical Engineers (ASME), pp. 49-56, ASME 2009 International Mechanical Engineering Congress and Exposition, IMECE2009, Lake Buena Vista, FL, United States, 13/11/09. https://doi.org/10.1115/IMECE2009-10448

Modeling, design and analysis of a robot system for garment inspection. / Fung, E. H.K.; Cheng, Long; Wong, Y. K. et al.
Proceedings of the ASME International Mechanical Engineering Congress and Exposition 2009, IMECE 2009. Vol. 10 PART A. ed. American Society of Mechanical Engineers (ASME), 2010. p. 49-56.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Modeling, design and analysis of a robot system for garment inspection

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