Model-Based Feed-Forward and Setpoint Generation in a Multi-Robot Sewing Cell

This paper describes an automated sewing system
that focuses on sewing of curved edge segments. The sewing cell
includes an industrial sewing machine as well as three industrial
robots that handle the parts during the sewing process. Based
on experiences from previous work, several improvements are
presented that address issues with previous implementations.
The main contribution concerning the control system is a
model-based generation of the feed-forward velocity for the
robot tool movement, based on a geometric description of the
parts. This approach increases performance, especially in the
case of curved fabric, as well as robustness in case of faulty
sensor data.
Additionally, this paper describes hardware upgrades that
address mechanical challenges that were described in former
publications.
Finally, the paper presents experiments comparing the
model-based control approach with the former control system based on constant feed-forwards velocity and setpoints.