Abstract
This study aims to improve the sewing accuracy and robustness of a control system for automating sewing operations. In a previous study, we experimentally demonstrated a control system for automating the butt seaming of two fabric pieces (one curved and another straight) into a 3D shape. However, because the control method was obtained through trial and error, there were problems, such as low sewing accuracy and low robustness, including sewing failure when changing the sewing machine feed rate. Therefore, this study improved the sewing accuracy using a real-time optimal control. Furthermore, robustness was enhanced using the feed rate and geometric shapes of the fabrics. The experimental results confirm that the proposed method improved sewing accuracy and robustness.
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