This paper proposes a visual servoing manipulator controller to guide fabrics during the sewing process. The task of the end-effector is to handle a randomly located fabric on a table and feed it to the sewing needle along the desired seam. The proposed system is capable of handling fabrics having straight line edges and curved edges with arbitrary curvatures. The vision system identifies the type of the fabric edges and the system decides the procedure that should be followed, so that the fabric is successfully handled. The experimental results demonstrate the efficiency and the robustness of the proposed approach.

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