Fuzzy Logic Decision Mechanism Combined with a Neuro-Controller for Fabric Tension in Robotized Sewing Process

A new approach for flexible automated handling of fabrics in the sewing process is described, which focuses to control the cloth tension applied by a robot. The proposed hierarchical robot control system includes a Fuzzy decision mechanism combined with a Neuro-controller. The expert's actions during the sewing process are investigated and this human behavior is interpreted in order to design the controller. The Fuzzy Logic decision mechanism utilizes only qualitative knowledge concerning the properties of the fabrics, in order to determine the desired tensional force and the location of the robot hand on the fabric. A Neural Network controller regulates the fabric tension to achieve the desired value by determining the robot end effector velocity. The simulation results demonstrate the efficiency of the system as well as the robustness of the controller performance since the effects of the noise are negligible. The system capabilities are more evident when the controller uses its previously acquired "experience".[PUBLICATION ABSTRACT]