Work Flow, Material Handling and Initial Part Positioning in a Multi-Robot Sewing Cell

This paper presents an approach for a complete sewing process, including the material handling and preparation before the sewing operation as well as material handling after the finished sewing. The complete process is divided into different tasks. The tasks include localization and stacking of the parts to be sewn, initial alignment and feeding of the aligned stack to the sewing machine, the previously-published sewing operation as well as the post sewing handling. Additionally, the sensor system for the handling process is described. This RGB-D-camera-based system is used to detect the corner poses for the two parts. While the presented tasks have been experimented with, solutions for the integration of sequent sewing processes are discussed.