A Fabric-Handling Dual-Manipulator System with Fabric Rolling-Up End-Effectors

A method for handling a subject fabric part, comprising:

• providing the subject fabric part;
• providing a fabric handling manipulator system, the fabric handling manipulator system comprising:
• a first robot manipulator;
• a second robot manipulator;
• a first rolling-up end-effector positioned by the first robot manipulator, the first rolling-up end-effector configured and adapted to grasp a first end of the subject fabric part with a first roller having a first suction port;
• a second rolling-up end-effector positioned by the second robot manipulator, the second rolling-up end-effector configured and adapted to grasp a second end of the subject fabric part with a second roller having a second suction port;
• a first force sensor configured and adapted to sense a force applied to the first rolling-up end-effector;
• a second force sensor configured and adapted to sense a force applied to the second rolling-up end-effector;
• a vision sensor system configured and adapted to sense a fabric part pose of the subject fabric part, a first pose of the first rolling-up end-effector, and a second pose of the second rolling-up end-effector;
• and
• a controller configured and adapted to simultaneously control the fabric part pose and a tension in the fabric part via the first robot manipulator and the second robot manipulator, according to inputs from the vision sensor system and one or both of the first force sensor and the second force sensor;
• moving, by the first manipulator, the first end-effector such that the first suction port comes into contact with the first end of the subject fabric part;
• applying a negative pressure or vacuum to the first suction port, to hold the first end of the subject fabric part;
• rotating the first roller while translationally moving the first end-effector in a direction and with a controlled displacement that creates a first rolled-up portion of the subject fabric part around the first roller without perturbating the rest of the subject fabric part;
• moving, by the second manipulator, the second end-effector such that the second suction port comes into contact with the second end of the subject fabric part;
• applying a suitable negative pressure or vacuum to the second suction port, to hold the second end of the subject fabric part;
• and
• rotating the second roller while translationally moving the second end-effector in a direction and with a controlled displacement that creates a second rolled-up portion of the subject fabric part around the second roller without perturbating the rest of the subject fabric part.

A fabric handling manipulator system for handling a subject fabric part, comprising:

• a first robot manipulator;
• a second robot manipulator;
• a first rolling-up end-effector positioned by the first robot manipulator, the first rolling-up end-effector configured and adapted to grasp a first end of the subject fabric part with a first roller having a first suction port;
• a second rolling-up end-effector positioned by the second robot manipulator, the second rolling-up end-effector configured and adapted to grasp a second end of the subject fabric part with a second roller having a second suction port;
• a first force sensor configured and adapted to sense a force applied to the first rolling-up end-effector;
• a second force sensor configured and adapted to sense a force applied to the second rolling-up end-effector;
• a vision sensor system configured and adapted to sense a fabric part pose of the subject fabric part, a first pose of the first rolling-up end-effector, and a second pose of the second rolling-up end-effector;
• and
• a controller configured and adapted to simultaneously control the fabric part pose and a tension in the fabric part via the first robot manipulator and the second robot manipulator, according to inputs from the vision sensor system and one or both of the first force sensor and the second force sensor.

A fabric handling manipulator system for handling a subject fabric part, comprising:

• a first robot manipulator;
• a first rolling-up end-effector positioned by the first robot manipulator, the first rolling-up end-effector configured and adapted to grasp a first end of the subject fabric part with a first roller having a first suction port;
• a first force sensor configured and adapted to sense a force applied to the first rolling-up end-effector;
• a vision sensor system configured and adapted to sense a fabric part pose of the subject fabric part and a first pose of the first rolling-up end-effector;
• and
• a controller configured and adapted to simultaneously control the fabric part pose and a tension in the fabric part via the first robot manipulator according to inputs from the vision sensor system and the first force sensor.