Manipulation analysis of carton-folding task by using GGPs and CCPs

The paper proposes a method for folding packaging cartons using a novel packaging unit with cooperative robotic fingers. First, the folding sequence of a carton is produced based on the graph theory and the corresponding model of a carton-equivalent mechanism, whose links presented by panels of a carton, joint by creases of the carton. Next, an algorithm is developed to give the estimated trajectory of the carton with the introduction of the geometry guiding points (GGPs). The proposed method herein uses GGPs to connect the desired trajectory produced by control configuration points (CCPs) in order to provide a minimum number of robotic fingers for the predetermined folding task.