Author: Cheng, Long
Title: Modeling, design and analysis of a robot system for garment inspection
Degree: M.Sc.
Year: 2010
Subject: Hong Kong Polytechnic University -- Dissertations
Clothing and dress -- Quality control
Robots, Industrial
Department: Department of Mechanical Engineering
Pages: xiii, 122 leaves : ill. ; 30 cm.
Language: English
Abstract: This research presents the design and performance of a robot system that exerts a prescribed tension on fabrics to facilitate the garment 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 always kept vertical, while that of the previous hanger (Yuen, Fung, Wong, Hau, Au, 2006) has a redundant degree of freedom. In addition, this hanger has a sleeve link and a shoulder link that provide convenience for holding the garment. The dynamic model of this hanger is derived by using Lagrangian approach from the energy viewpoint. Based on the dynamic model equations, further experiments are conducted to obtain related parameters of the original model. 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 the above reasons, the Fuzzy Logic PID (FPID) 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 PID control with conventional PID control. Besides, experiments are also done for some cases to validate the model and enhance the simulation result. The overall results show that the Fuzzy Logic PID control method is more effective in controlling the robot hanger and regulating the garment forces.
Rights: All rights reserved
Access: restricted access

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