The robotic sewing system is a piece of fabric is gripped by a robot manipulator holding the right edge while the opposite left edge of the fabric is moving with unknown velocity by the feed dog mechanism of the sewing machine. Sewing Machine Showroom in AshokNagar During the sewing process the fabric should be kept taut so as to prevent the buckling and ensure qualitative stitches. The desired tensional forces for each fabric are depended on the fabric type and properties
The aim of the presented approach is to develop a flexible controller that could be able to guide a wide range of fabric types without knowing the properties or the model of each fabric. The target of the proposed controller is to apply a desired constant tensional force to the fabric in the begging and during the sewing process, independently of the sewing machine velocity. Sewing Machine Showroom in Kolathur The force sensor mounted on the wrist of the robot manipulator is used to measure the force applied to the fabric which is the only feedback signal in the outer control loop relative to the internal controller of the robot. The tensile stiffness coefficient of the fabric is non-linear and changes by decreasing the nominal length as the sewing proceeds.
In this paper, a FMRL control scheme is adopted. The adaptation mechanism observes the signals from the control system and adapts the parameters of the fuzzy controller to maintain the performance even if there are changes in the plant. Sewing Machine Showroom in Villivakkam The desired performance is characterized with a reference model and the controller seeks to make the closed-loop system behave as the reference model would. The FMRLC, besides of tuning, remembers to some extend the values tuned in the past, in contrast to the conventional approaches which simply continue to tune the controller parameters
The proposed FMRL control scheme is the fabric and the sewing machine’s velocity are unknown. Sewing Machine Showroom in Kilpauk The goal of this system is considered to be achieved when its controller maintains a desired constant force applied to the fabric The presented FMRLC includes: the fuzzy controller, the robot-fabric system to be controlled, the learning mechanism, the reference model and a filter
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