用临时硬化技术让机器人轻松缝制各类布料，无需复杂建模。
Robotic Automation in Apparel Manufacturing: A Novel Approach to Fabric Handling and Sewing
- 通过临时硬化布料消除传统建模需求，简化机器人操作。
- 在蓝水防御和李维斯工厂验证，成功处理棉布与牛仔布。
- 结合机械臂与缝纫机，实现闭环视觉控制实时缝制。
由于布料操作的固有复杂性，机器人缝制服装始终是研究难题。本文提出一种智能机器人自动化系统，采用专利技术临时硬化服装，从而消除传统布料建模的必要性。方法基于三阶段流程：首先精准估计裁剪布片的位姿；其次将布片临时连接；最后采用闭环视觉伺服技术完成缝制。该方法在多种面料上展现通用性，已在蓝水防御生产线上成功处理棉布，并在李维斯研究设施中验证牛仔布应用。论文融合机器人机构与传统缝纫机，设计实时缝制算法，并通过协作机器人平台进行实操验证。
原文摘要 · Abstract (English)
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By employing a patented technique that temporarily stiffens garments, we eliminate the traditional necessity for fabric modeling. Our methodological approach is rooted in a meticulously designed three-stage pipeline: first, an accurate pose estimation of the cut fabric pieces; second, a procedure to temporarily join fabric pieces; and third, a closed-loop visual servoing technique for the sewing process. Demonstrating versatility across various fabric types, our approach has been successfully validated in practical settings, notably with cotton material at the Bluewater Defense production line and denim material at Levi's research facility. The techniques described in this paper integrate robotic mechanisms with traditional sewing machines, devising a real-time sewing algorithm, and providing hands-on validation through a collaborative robot setup.
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