Clothing gripping and sorting based on a dual-arm collaborative robot

Abstract

The aging speed is accelerated, and the folding of clothes will cause trouble to the elderly who are physically inconvenient. This paper proposes a dual-arm collaborative robot to help the elderly complete the folding of clothes. In this paper, the joint change matrix is established by the D-H method for the forward and reverse kinematics settlement of the robotic arm of the collaborative robot; The RRT* algorithm is used to plan the path of the collaborative robot to achieve better planning results. On this basis, the clothing into the grasping point acquisition and contour matching, improve the efficiency of folding in different types of clothing, and finally through the experiment for the corresponding demonstration.