Journal of Textile Research ›› 2021, Vol. 42 ›› Issue (11): 173-178.doi: 10.13475/j.fzxb.20200605706

• Machinery & Accessories • Previous Articles     Next Articles

Force and position fuzzy impedance control of a sewing robot

WANG Xiaohua(), WANG Yuhe, ZHANG Lei, WANG Wenjie   

  1. College of Electronics and Information, Xi'an Polytechnic University, Xi'an, Shaanxi 710048, China
  • Received:2020-06-19 Revised:2021-03-07 Online:2021-11-15 Published:2021-11-29

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Abstract:

The end-effector of a sewing robot needs constant force when pressing the fabric for forward movement and sewing so as to ensure wrinkle free in fabrics and uniform sewing track,the fuzzy impedance control method was used to control simultaneously the robot end position and the contact force between the robot end and the fabric. According to the actual sewing task of the sewing robot, the system model was established, and the force/impedance control strategy was adopted to control the force and position of the robot's end press on the fabric, and the optimal impedance parameters of the sewing system were selected according to fuzzy rules. The dynamic balance between the position of the robot operating the fabric and the operating force pressing the fabric at the end of the robot was established, and the simultaneous control requirements of the contact force and position during sewing achieved on the basis of ensuring the smooth movement of each joint of the robot.

Key words: sewing robot, sewing system, fuzzy impedance control, contact force, press position

CLC Number: 

  • TP242

Fig.1

Sewing robot working platform"

Fig.2

Schematic diagram of position-based impedance control structure"

Fig.3

Block diagram of sewing robot fuzzy impedance controller"

Tab.1

ΔMd fuzzy rules table"

e ec
NB NM NS Z PS PM PB
NB PB PB PM PM PS Z Z
NM PB PB PM PS PS Z NS
NS PM PM PM PS Z NS NS
Z PM PM PS Z NS NM NM
PS PS PS Z NS NS NM NM
PM PS Z NS NM NM NM NB
PB Z Z NM NM NM NB NB

Fig.4

Comparison curve of end force and position tracking of sewing robot. (a) Force tracking curve; (b) Position tracking curve"

Fig.5

Position impedance contcol and fuzzy impedance control. (a) Force tracking curve; (b) Position tracking curve"

Fig.6

Robot operating fabric sewing"

Fig.7

X (a), Y (b) and Z (c) direction movement curve of robot end"

Fig.8

Angular displacement (a), angular speed (b) and angular acceleration (c) curves of each joint of robot"

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