Trajectory and orientation analysis of the ironing process for robotic automation

Robotic ironing needs multidiscipline and requires a quantitative analysis of garment unfolding and ironing motion. This paper investigates the trajectories and orientation of the ironing process where particular geometry is presented in an analytical way. The trajectories produced from this process are analysed and presented with mathematical models to be possibly implemented in robotic automation. This paper further investigates the orientation of iron during the ironing process. It is revealed that the orientation is dependent on the regions of garment and on the closeness to an operator. The orientation is then integrated into the trajectory and presented in a 3D form in which the vertical axis represent the orientation and horizontal axis represent the position. This type of orientation analysis is then used to find similarity in motions to determine the most effective and efficient way of ironing a garment.