Research on Trajectory and Pose Planning of Robotic Arms for 3D Template Sewing

The technology of template sewing is one of the key techniques in the field of garment stitching. However, traditional flat template sewing often fails to meet the demands of multi-layered stitching structures. Therefore, three-dimensional template sewing is required to address these shortcomings. This paper focuses on three-dimensional template sewing technology, using hat manufacturing as a case study. A simple three-dimensional template model has been designed, employing NURBS curves to fit the sewing path. The adaptive arc-length interpolation method and spherical linear interpolation method are utilized to tackle issues related to speed smoothing and posture adjustment during the sewing process, while also planning the actual stitching pose for the robotic arm. Simulation experiments demonstrate that the proposed approach can accurately fit irregular nonlinear curved paths. The interpolation algorithms exhibit good performance in terms of speed smoothness and posture continuity, ensuring stability and precision throughout the robotic arm's sewing process. This research provides a novel perspective for advancing three-dimensional template sewing techniques.