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Proceedings Paper

Vision Guided Manipulation Of Non-Rigid Parts: A Case Study
Author(s): Daniel Wyschogrod; Edward Bernardon
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Paper Abstract

The vision guided manipulation of rigid objects has been widely studied, but the robotic handling of flexible materials such as cloth has received far less attention. Draper Laboratories has developed a vision guided, fully-automated folding-sewing device for the construction of suit sleeves. A set of robot motions requiring only 2-D vision data has been developed. A specially designed robot manipulator working in tandem with a vacuum table allows the sleeve to be held flat for image acquisition. The robot motion sequence also allows robot moves to be based on locations on the workpiece contour rather than its interior. Binary image analysis software models the contour as smooth curves connected at discontinuity points called breakpoints. Syntactic pattern recognition techniques are used to match breakpoints to a stored database and return location data on those breakpoints required by the robot or sewing modules. Work has also begun to use grey scale values to achieve sub-pixel accuracy.

Paper Details

Date Published: 22 March 1988
PDF: 7 pages
Proc. SPIE 0849, Automated Inspection and High-Speed Vision Architectures, (22 March 1988); doi: 10.1117/12.942846
Show Author Affiliations
Daniel Wyschogrod, SPARTA, Inc. (United States)
Edward Bernardon, The Charles Stark Draper Laboratory, Inc. (United States)

Published in SPIE Proceedings Vol. 0849:
Automated Inspection and High-Speed Vision Architectures
Rolf-Juergen Ahlers; Michael J. W. Chen, Editor(s)

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