A new scientific article by the LMS team in Merging, was published on CIRP Annals 2022.

Sotiris Makris, Emmanouil Kampourakis, Dionisis Andronas,
On deformable object handling: Model-based motion planning for human-robot co-manipulation, CIRP Annals, 2022,

https://doi.org/10.1016/j.cirp.2022.04.048.

Abstract
Despite extensive automation in multiple industrial sectors, manufacturing operations involving deformable objects are mostly performed manually. Challenges originating from flexible objects’ dynamic distortion underline handicaps in robot cognition and dexterity. This paper presents a model-based motion planner for deformable object co-manipulation. The developed closed-loop controlling framework interprets manipulation inputs into appropriate handling actions by simulating fabric’s distortion through a mass-spring model. The planner incorporates tools for rapid system commissioning and reconfiguration, grasping point planning, and monitoring of human actions. Inspired by automotive composite industry, two experimental setups are used for validating the system’s performance during translational and rotational co-manipulation.

On modelling and handling of flexible materials: A review on Digital Twins and planning systems

Dionisis Andronas, George Kokotinis, Sotiris Makris

Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras, Patras 26504, Greece

Abstract
In this paper a series of studies dealing with flexible material manipulation in aspects of manipulation, modelling and scheduling are discussed. The main purpose of this work is to provide an overview of the existing technologies and their capabilities both in manufacturing and academia, that can be elaborated in autonomous flexible material handling using robotics. The particularities of flexible material handling require advanced control systems for simulating, monitoring and managing the deformation of plies. A simulation model for predicting and defining the status of manipulated fabrics is proposed. Digital representation of the production system, in the basis of Digital Twin, is intended for achieving real-time adaptation. A pioneer control and planning system, interconnected to the digital model, is proposed for orchestrating the manipulation process. Current limitations of the existing technologies in flexible material handling and modelling are outlined and discussed, towards the implementation of a Workcell controller for flexible material manipulation robotic cell.

https://doi.org/10.1016/j.procir.2020.08.005