Abstract
A 3-D automated sewing system with a 6 DOF direct drive manipulator is introduced to improve productivity and to promote automation in the apparel industries. A smooth trace technique is adopted by improving the conventional position/force hybrid control method to attain high sewing accuracy as well as to eliminate burdensome motion teaching. The experimental results show the proposed system is excellent with respect to sewing accuracy and applicability comparing with the conventional teaching play-back method.
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