Adaptive Fabric Folding End Effector System

Abstract

An adaptive fabric folding system and method for folding a target fabric article are provided. The system includes an inverter, a crease adjuster configured to adjust a crease of the target fabric article, a pleat generator, and a crease fixing device. The pleat generator includes an adjuster to adjust a width of a pleat of the target fabric article, and a fabric feeding device. The inverter is configured to invert a margin of the target fabric article bounded by a pre-set crease. The crease adjuster is configured to change a width of a margin of the target fabric article that engages a curved surface of the inverter to change the crease due to lateral movement of the guide. The pleat generator is configured to create and adjust the width of pleats while moving the target fabric article.

Description

[Background technology]

[0001] The global garment industry remains heavily dependent on manual handling and processing of fabric components. Folding fabric components before hemming or sewing is an essential and frequently performed procedure, primarily performed by human workers. In traditional folding tasks, workers use irons and fixtures or guides to precisely fold each piece of fabric. However, such folding methods are not adaptable to different shapes of fabrics due to the fixed geometry of the fixtures designed for a specific folding task, making the production of customized garments difficult and laborious.

[0002] Taking a shirt as an example, sewing, including stitching and seaming, is one of the most frequently performed and most skill-demanding steps in the garment manufacturing workflow. A typical dress shirt takes 50-60 sewing operations and 25-30 minutes per worker to complete. Edge folding is a prerequisite for sewing, and requires folding a piece of fabric into an intended shape before it is stitched into a panel. Such a process not only takes time, but also requires the right skills of the worker to ensure precision. If the fabric pieces are not folded properly, it can lead to variability in the sewing operation, resulting in rejects and waste.

[0003] Although the folding task can be automated to some extent with the help of industrial folding machines, the folding geometry is completely fixed by fixtures or clamps, so that automated folding can only fit a specific size, shape or style of garment. Therefore, this approach is only applicable to mass production of garments with a specific design, but not to customized garments, which are highly demanded in the fashion market.

[0004] The majority of patents on automated fabric folding focus on the folding of fairly large textile or fabric products such as shirts, trousers, towels, etc. Very few of them relate to free-form adaptive folding of individual fabric pieces to produce garments.

[0005] For example, US Patent No. 8,973,792 relates to a machine designed to fold finished textile products 43, such as shirts, jackets, trousers, etc. The machine performs the folding in a horizontal working stage using a rotating rod 44 and an expandable tape 45. During operation, the tape holds the fabric 43 and the rod 44 holds the fabric, as shown in Figure 10. Camera vision is used to detect the type, contour and centerline of the article. The tape described in the patent is essentially linear, so such a machine is not suitable for folding free-form textiles. Furthermore, no ironing action is applied to set the fold.

[0006] Another type of conventional folding machine 10 is for folding large areas of textile material, usually textile sheets or fabric directly from a knitting machine. An example of such an industrial folding machine is shown in Figure 11. The textile material is continuously fed by an arrangement of rollers, and a sliding guide 24 moves back and forth to facilitate the folding relative to one another.

[0007] Figure 12 is another example using conveyor belts moving in opposite directions to create creases in long textile materials. However, the folding machine can only vary the length between successive creases, not the shape of the creases. The creases are defined by predefined (mostly straight) guide rods or edges of the conveyor belt. This machine is designed to handle rather large textile materials coming directly from the production facility, so it is not applicable to small and separate textile pieces.

[0008] Yet another type of conventional folding device is shown in Figure 13. In this folding device, crossed rollers 21, 23 are used to realign the oriented textile material and increase the strength of the material along a specific direction. Since the folding pattern or geometry was defined and fixed by the configuration of the rollers, it is difficult for the folding machine to perform adaptive freeform folding.

[0009] Furthermore, there are several patents related to the automated folding of small, independent fabric components for garment manufacturing. For example, U.S. Patent No. 5,029,537 describes an apparatus for contour folding and hemming of garment components such as pockets, as shown in FIG. 14. The apparatus employed a clamp die and a flat metal plate with a shape similar to the shape of the intended pocket. In the folding process, as shown in FIG. 14, the pocket ply is placed on the contoured plate, and then the clamp die is pressed against the pocket ply, leaving the margin of the ply a little from the edge of the plate. Then, the movable part of the clamp die conforms to the contoured edge of the plate, folding the ply downwards and then horizontally inwards. The folded pocket ply is then transferred to a sewing station, where the contoured hem is stitched. The shape of the pocket hem is entirely determined by the shape of the contoured plate, limiting the apparatus to form pockets of different shapes. Additionally, U.S. Patent No. 5,029,537 describes a folding device that is supposedly limited to folding pockets having a flat bottom or a shallow "V" shape. The folding tended to produce uncontrolled pleat formation whenever a curvilinear crease was processed, and the device was not suitable for replicating freeform folding or the production of controlled pleats. Summary of the Invention

[0010] There remains a need in the art for improved designs and techniques for automatically adaptive fabric folding systems and methods.

[0011] An embodiment of the present invention relates to an adaptive fabric folding system for folding a target fabric product. The system includes an inverter, a crease adjuster configured to adjust a crease of the target fabric article, a pleat generator, and a crease fixing device. The pleat generator includes an adjuster to adjust a width of a pleat of the target fabric article, and a fabric feeding device. The inverter is configured to invert a margin of the target fabric article bounded by a pre-set crease. The crease adjuster includes a guide portion having at least one side aligned with the crease. The guide portion may have a curved shape, a straight shape, or any other shape suitable for aligning with the crease. The crease adjuster is configured to change the width of the margin of the target fabric article that engages the curved surface of the inverter (such as a spiral surface of the inverter) to change the crease by lateral movement of the guide portion. The pleat generator is configured to create and adjust the width of pleats while moving the target fabric article. Additionally, the crease fixation device may include a roller configured to flatten the target fabric article under pressure and / or heat. The adaptive fabric folding system may further include a suspension module including a platen, a column, and a coil spring. The suspension module may be configured to absorb vibrations of the adaptive fabric folding system and assist in leveling the adaptive fabric folding system as the target fabric article moves across a work surface.

[0012] According to one embodiment of the present invention, a method for adaptively folding a target fabric article on a work surface is provided. The method includes the steps of inverting a margin of the target fabric article bounded by a predefined fold line by an inverter device, adjusting the fold line of the target fabric article by a fold adjuster, creating pleats of the target fabric article by a pleat generator and adjusting the width of the pleats while moving the target fabric article on the work surface, and flattening the target fabric article under both pressure and heat by a fold fixation device. Inverting the margin of the target fabric article includes guiding and rotating a portion of the target fabric article by a curved surface (e.g., a spiral surface of the inverter device) of the inverter device such that the target fabric article curls when the target fabric article engages the curved surface of the inverter device. Adjusting the fold line includes changing a width of the margin of the target fabric article that engages the curved surface (e.g., the spiral surface of the inverter device). When the curled portion of the target fabric article is brought under a feed roller, the curled portion under the roller is flattened. The step of creating pleats and adjusting their width includes creating wavy protrusions in the wake as the inverted fabric is brought under the feed roller and pushed down by the flap. The width of the pleats can be adjusted by the level / height of the flap and / or the rotation speed of the feed roller. The step of flattening the target fabric article under pressure or under both pressure and heat includes bringing the protruding fabric under the roller of the crease fixing device. The crease adjuster includes a guide portion. The guide portion has at least one side aligned with the crease. The guide portion may have a curved shape, a straight shape, or any other shape suitable for aligning with the crease.

[0013] In a particular embodiment of the present invention, there is provided a robotic fabric folding system comprising the adaptive fabric folding system described above, a robotic manipulator, and a force sensing device coupling the adaptive fabric folding system to the robotic manipulator. The robotic fabric folding system may further comprise an image capture device for capturing real-time images or videos of the operation of the robotic manipulator for visualization and / or motion control of the robotic manipulator or the adaptive fabric folding system. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram of a robotic fabric folding system according to one embodiment of the present invention. [Diagram 2] FIG. 1 is a schematic diagram of an adaptive fabric folding system of a robotic fabric folding system according to one embodiment of the present invention. [Diagram 3] FIG. 2 is a schematic diagram of a first folding step for roughly folding a fabric according to one embodiment of the present invention. [Figure 4] FIG. 11 is a schematic diagram of a second folding step to adjust the crease according to one embodiment of the present invention. [Diagram 5] FIG. 11 is a schematic diagram of a third folding step for creating and adjusting pleats according to one embodiment of the present invention. [Figure 6] FIG. 2 is a schematic diagram of a pleat width adjustment mechanism according to one embodiment of the present invention, where the pleat width can be controlled by (i) the gap height behind the rollers of the pleat generator and / or (ii) the rotational speed of the rollers. [Figure 7] FIG. 11 is a schematic diagram of a fourth folding step for fixing the creases and pleats according to one embodiment of the present invention. [Figure 8a] FIG. 2 is a schematic diagram of a fold fixing device. [Figure 8b] FIG. 2 is a schematic diagram of a fold fixing device. [Figure 8c] FIG. 2 is a schematic diagram of a fold fixing device. [Figure 9]1 shows an image of a fabric piece folded by an adaptive fabric folding system according to one embodiment of the present invention. [Figure 10] FIG. 1 is a schematic diagram of a first conventional folding machine according to the prior art. [Figure 11] FIG. 2 is a schematic diagram of a second conventional folding machine for folding fabric by reciprocating motion of a guide according to the prior art. [Figure 12] FIG. 13 is a schematic diagram of a third conventional folding machine that uses a conveyor belt to create creases in fabric, according to the prior art. [Figure 13] FIG. 1 is a schematic diagram of a conventional method for folding and aligning an oriented textile material according to the prior art. [Figure 14] 1 is a schematic diagram of a conventional pocket folding device according to the prior art; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention provides a method and system for "F-FOLD" (Free Form FOLDing) for adaptive folding of fabric.

[0016] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the invention. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the singular forms "a," "an," and "the" are intended to include the plural as well as the singular, unless the context clearly indicates otherwise. Furthermore, as used herein, the terms "comprises" and / or "comprising" are understood to specify the presence of stated features, steps, operations, elements, and / or components, but not to imply the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Furthermore, it is understood that terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and this disclosure, and not in an idealized or overly formal sense unless expressly defined herein.

[0017] When the term "about" is used herein in conjunction with a numerical value, it is understood that the value may range from 90% to 110% of the value, i.e., the value may range from + / - 10% of the stated value. For example, "about 1 kg" means 0.90 kg to 1.1 kg.

[0018] In describing the present invention, it is understood that a number of techniques and steps are disclosed. Each of these has its own advantages, and each can also be used in combination with one or more, or in some cases, all, of the other disclosed techniques. Therefore, for the sake of clarity, this specification will not unnecessarily repeat every possible combination of individual steps. However, this specification and claims should be read with the understanding that such combinations are fully included within the scope of the invention and claims.

[0019] When making a garment, fabric parts need to be folded into the desired shape / form before being properly sewn in place. Fabric parts such as pockets and cuffs need to be folded before hemming or sewing.

[0020] Referring to FIG. 1 , the robotic fabric folding system 100 is coupled to an adaptive fabric folding system 200 for freeform folding. The adaptive fabric folding system 200 can be configured to be attached to a robotic manipulator 300 of the robotic fabric folding system 100, with an optional force-sensing device 400 coupling the adaptive fabric folding system 200 to the robotic manipulator 300. The adaptive fabric folding system 200 actuated by the robotic manipulator 300 can be precisely manipulated and positioned relative to a target fabric 600 to perform a freeform folding task on the target fabric 600. The target fabric 600 may optionally be placed on a support, such as a suction stage 700. A camera 500 may additionally be integrated into the robotic folding system 100 to capture real-time images or videos of the operation of the robotic manipulator 300 and the adaptive fabric folding system 200 and to provide visualization and / or motion control of the robotic manipulator 300 and the adaptive fabric folding system 200.

[0021] Referring to FIG. 2 , the adaptive fabric folding system 200 may include five components, including: (1) an inverter device 210; (2) a crease adjuster 220; (3) a pleat generator 230 including a pleat width adjustment mechanism 232 and a fabric feeding mechanism 234; (4) a crease fixing device 240; and (5) a suspension device 250.

[0022] In particular, the inverter 210 may be configured to invert a margin of the target fabric delimited by a pre-set crease, which may be a visible crease or a virtual crease. If there is a visible crease, the crease may be detected by the vision of the camera, and the folding operation may be performed along the visible crease. If there is a virtual crease (not visible), the crease trajectory may be determined by a position and orientation estimation method based on, for example, pre-prepared CAD data or vision data captured during the actual operation. When the target fabric engages the curved surface 212 of the inverter 210, a portion of the target fabric is guided and rotated by the curvature (e.g., helical surface) of the surface 212, which causes the target fabric to curl as the adaptive fabric folding system 200 proceeds along the crease of the target fabric. A first folding method for roughly folding the target fabric is shown in FIG. 3.

[0023] Additionally, the adaptive fabric folding system 200 can be configured to allow the crease to be realigned by the method shown in FIG. 4. The crease adjuster 220 of the adaptive fabric folding system 200 includes a guide having sides aligned with the crease. The guide may be curved, straight, or any other shape suitable for aligning with the crease. Lateral movement of the guide changes the width of the margin of the fabric that engages the curved surface 212 (e.g., helical surface) of the inverter 210 to change the crease as needed. As the curled portion of the fabric is brought under the feed roller 222, the roller flattens the curled portion and completes the inversion process.

[0024] For straight creases, the inverted portion of the fabric remains reasonably flat after being flattened by the feed rollers. On the other hand, for curved crease geometries, portions of the target fabric protrude and protrude from the surface of the inverted fabric. The protruding portions are referred to herein as "pleats." The pleat generator 230 of the adaptive fabric folding system 200 can be configured to create and adjust the width of pleats as the target fabric moves through the work stages.

[0025] Figure 5 shows the details of the pleat generation and feeding method. As the inverted fabric is brought under the feeding roller, a wave-like protrusion is generated in the wake, which is pushed down by the flap. Furthermore, as shown in Figure 6, the width of the pleats can be controlled by (i) the gap height behind the roller of the pleat generator, and / or (ii) the rotation speed of the roller.

[0026] 7, further advancement of the pleat generator 230 may bring the protruding fabric under another roller 242 of the fold fixation device 240. The fold fixation device 240 may flatten the target fabric by the action of both pressure and heat, similar to ironing, to complete the pleat generation process.

[0027] As described above, when the curled portion of the fabric is conveyed under the feed roller 222 and fed by the roller 222 to the pleat generator 230, the fabric is pleated by the pleat generator 230, and the protruding fabric is fed under the fixed roller 242. The fixed roller 242 functions to apply pressure and heat equivalent to ironing to fix any creases or pleats. Such heating can be provided by an active heating device, such as a resistive heater, an inductive heater, or an infrared heater, mounted on the roller in the manner illustrated in FIG. 8a. In this example, a cylindrical cartridge heater 261 is disposed within a hollow shaft 262, which rotatably supports the roller 242 with the aid of ball bearings 263 at both ends. Heat can be transferred from the heater 261 to the roller 242 by conduction, convection, and to a lesser extent, radiation. To improve thermal conductivity, the preferred material for the hollow shaft 262 and the roller 242 is a copper-based alloy, such as brass. By incorporating a temperature regulator 264, such as a bimetal thermostat, into the circuit, the temperature of the roller 242 can be controlled within a desired temperature range (130-200° C. for typical fabric materials).

[0028] In another embodiment, the roller 242 can further incorporate a rotation mechanism that allows adjusting the angle of the roller's rotation axis with respect to the end effector's working direction or the fabric feed direction X (see FIG. 8b). For stiffer fabric materials, the fabric portion before passing under the roller 242 tends to bend outwards due to its inherent elasticity, which may cause the fixed fold to gradually deviate from the intended crease. To mitigate such position errors, a suitable tilt angle α (e.g., 0-20 degrees) of the roller 242 can be set by the hinge joint 243, so that the subsequent rolling motion exerts a shear force component on the fabric that opposes the outward movement of the fabric, thus maintaining the correct position of the fold. A schematic diagram is shown in FIG. 8c.

[0029] The adaptive fabric folding system 200 may further include a suspension mechanism 250, which is composed of a platen, a column, and a coil spring. The suspension mechanism 250 is configured to absorb vibrations of the adaptive fabric folding system 200 and assist in leveling the adaptive fabric folding system 200 with respect to a target fabric placed on a work stage. As shown in FIG. 8a, the fixed rollers 242 are attached to the suspension mechanism 250 by a frame 244. The suspension mechanism 250 may include a mounting plate 251 and an insulating layer 252 for insulating heat generated from or conducted by the rollers 242.

[0030] A series of folding experiments are performed by running the adaptive fabric folding system and method (actuated by human hands rather than robotic manipulators) along visible or virtual creases of various geometric shapes.

[0031] Figure 9 shows images of the experimental results. Three representative samples of fabric parts are processed by the adaptive fabric folding system and method, and it is proven that the folded geometric shapes are consistent with the creases. The results show that the F-FOLD adaptive fabric folding system and method can effectively perform folding tasks with a variety of geometric shapes, including but not limited to straight lines (left side of Figure 9), continuous curves (center of Figure 9), a combination of straight lines and continuous curves (right side of Figure 9), etc. Pleats are generated and set where the curved creases are.

[0032] As mentioned above, the adaptive fabric folding system can be coupled to a robotic fabric folding system to perform an automated fabric folding process. An exemplary automated fabric folding process is shown here, which includes the following steps:

[0033] Step 1: The pants part is placed on the working stage, and a contoured plate (pocket shape) is taken out onto the pants part.

[0034] Step 2: The user places the pocket ply on the contoured plate.

[0035] Step 3: The folding system sandwiches the pocket ply, folds the margins of the ply inward, and pulls the folded ply down onto the pant component.

[0036] Step 4: After the folding system is retracted, a fixture (e.g., a metal clamp) moves leftward to hold down the pocket assembly.

[0037] Step 5: A fixture (e.g., a metal clamp) pulls the assembly to the right and places it under the sewing machine.

[0038] Step 6: The sewing needle follows the path defined by the fixture and executes the stitch.

[0039] Step 7: Once sewing is complete, remove the assembly from the work stage and repeat these steps for another fabric assembly.

[0040] Embodiments of the adaptive fabric folding system and method of the present invention provide many advantages over conventional folding devices.

[0041] First, embodiments of the adaptive fabric folding system and method of the present invention employ a continuous guide surface having a curved surface (e.g., a helical surface) to invert the edge of the fabric, whereas conventional folding devices use a hook mechanism that acts on small portions of the edge, one at a time, making the folding operation a piecewise rather than a continuous process.

[0042] In a second embodiment of the adaptive fabric folding system and method, the folding action is performed by a roller mechanism that can be heated to provide an ironing effect and set the folds in shape, whereas conventional folding devices use localized pressing and hammering to secure the fold edges using adhesive, creating significant limitations in folding fabric materials that are not manufactured with or suitable for the use of adhesive.

[0043] Third, the adaptive fabric folding system and method embodiment of the present invention includes a pleat generation / adjustment mechanism that is important for folding fabric along curved creases, whereas conventional folding devices do not provide such a mechanism.

[0044] Thus, embodiments of the adaptive fabric folding system and method of the present invention allow for free-form folding and securing of garment components prior to sewing.

[0045] When coupled to a robotic manipulator as an end effector, the adaptive fabric folding system and method can replace a human worker in performing automated folding tasks with much greater accuracy and efficiency.

[0046] Furthermore, conventional folding methods require a set of pre-designed fixtures for a particular size / style of garment, thus preventing large scale customization. The adaptive fabric folding system and method of the present invention works in conjunction with a robotic manipulator to enable customized production of different styles of garments on the same production line.

[0047] The adaptive fabric folding system and method can be applied to fold any type of single fabric piece along creases of variable geometry, including straight lines and / or curves with a wide range of curvatures.

[0048] All patents, patent applications, provisional applications, and publications mentioned or cited herein are incorporated by reference in their entirety, including all figures and tables, unless they conflict with the explicit teachings of this specification.

[0049] It should be understood that the examples and embodiments described herein are for illustrative purposes only, and that various modifications or changes therein will be suggested to those skilled in the art and are within the spirit and scope of this application and the scope of the appended claims. Furthermore, any element or limitation of any invention or embodiment disclosed herein may be combined with any and / or any other element or limitation (individually or in any combination) or with any other invention or embodiment disclosed herein, and all such combinations are within the scope of the present invention, without limitation thereto.

Claims

1. 1. An adaptive fabric folding system for folding a target fabric article, comprising: A reversing device; a crease adjuster configured to adjust a crease of the target fabric article; A pleat generator; and a crease fixing device.

2. The adaptive fabric folding system of claim 1 , wherein the pleat generator includes an adjuster for adjusting a width of the pleats of a target fabric article, and a fabric feeding device.

3. 2. The adaptive fabric folding system of claim 1, wherein the inverter is configured to invert a margin of a target fabric article bounded by a crease, the crease being a visible crease or a virtual crease.

4. The adaptive fabric folding system of claim 1 , wherein the crease adjuster includes a guide portion having at least one side aligned with the crease.

5. 5. The adaptive fabric folding system of claim 4, wherein the crease adjuster is configured such that lateral movement of the guide portion changes a width of a margin of the target fabric article that engages the curved surface of the inverter device to alter the crease.

6. The adaptive fabric folding system of claim 1 , wherein the pleat generator is configured to create and adjust the width of pleats while moving a target fabric article.

7. The adaptive fabric folding system of claim 1 , wherein the crease fixation device comprises a roller configured to flatten a target fabric article under pressure and / or heat.

8. 8. The adaptive fabric folding system of claim 7, further comprising a heater for heating the rollers to a predetermined temperature.

9. 9. The adaptive fabric folding system of claim 8, wherein the rollers are rotatably supported by a hollow shaft having a heater mounted thereon.

10. 8. The adaptive fabric folding system of claim 7, wherein a rotation / hinge mechanism is provided for adjusting the angle of the rotation axis of the roller relative to the fabric feed direction.

11. The adaptive fabric folding system of claim 1 further comprising a suspension module.

12. The adaptive fabric folding system of claim 11 , wherein the suspension module includes a platen, a column, and a coil spring.

13. 13. The adaptive fabric folding system of claim 12, wherein the suspension module is configured to absorb vibrations of the adaptive fabric folding system and assist in leveling the adaptive fabric folding system as target fabric articles move across a work surface.

14. 1. A method for adaptively folding a target fabric article on a work surface, comprising: inverting a margin of the target fabric article bounded by a predefined fold line by an inverting device; adjusting the crease of the target fabric article with a crease adjuster; creating pleats in the target fabric article with a pleat generator and adjusting the width of the pleats while moving the target fabric article across a work surface; and flattening the target fabric article under pressure or under both pressure and heat with a crease fixation device.

15. The method of claim 14, wherein the step of inverting a margin of the target fabric article includes the step of guiding a portion of the target fabric article and rotating it through a surface having a curve such that the target fabric article curls when the target fabric article engages the curved surface of the inverting device.

16. 15. The method of claim 14, wherein adjusting the crease comprises altering a width of a margin of the target fabric article that engages the curved surface of the inverter.

17. 16. The method of claim 15, wherein when the curled portion of the target fabric article is brought under the feed roller, the curled portion under the roller flattens out.

18. 18. The method according to claim 17, wherein the step of creating pleats and adjusting their width comprises the step of creating wave-like protrusions and pushing them down by flaps as the inverted fabric is brought under the feed roller, the width of the pleats being adjustable by the height and / or level of the flaps and / or the rotation speed of the feed roller.

19. 15. The method of claim 14, wherein flattening the target fabric article under pressure or under both pressure and heat comprises conveying the protruding fabric under rollers of a fold-fixing device.

20. The method of claim 14 , wherein the crease adjuster comprises a guide portion.

21. The method of claim 20 , wherein the guide portion has at least one side aligned with the fold.

22. 1. A robotic fabric folding system comprising: An adaptive fabric folding system according to claim 1; A robot manipulator; a force sensing device coupling the adaptive fabric folding system to a robotic manipulator.

23. 23. The robotic fabric folding system of claim 22, further comprising an image capture device for capturing real-time images or videos of the operation of the robotic manipulator for visualization and / or motion control of the robotic manipulator or adaptive fabric folding system.

Images