Trajectory generation of redundant manipulator for 3-D sewing system

The system covers the measurement of an object position with stereo vision, the task path interpolation by B-spline method and the transformation to joint trajectory. Several new ideas are proposed: the concept of 3-D sewing, a method for teaching a task path using a camera image, a method for generating smooth sewing curves including the orientation of the sewing needle and a method of joint trajectory generation using a generalized inverse of Jacobian for smooth following control with a manipulator taking into account the boundary limitations of a joint space. This paper describes the current status of implementation and the results of experiments and the simulation of the ideas.