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Task Analysis and Motion Generation for Service Robots IRONING PATHS Paths Automatic ironing needs identifying that the required path (Shah & Dai, 2002) with desired orientation. This starts by looking at the ironing motion produced by an operator. This motion can be considered as a three-dimensional movement with two translational movements and one orien- tation change (Dai & Shah, 2003; Shah & Dai, 2002). Thus, a twisting motion on a garment can be represented in an image space (Dai, et al., 1995; Dai, 2002) with two axes standing for translations and a vertical axis standing for the orientation of the ironing. This can be represented in Figure 3, where the ironing movement and orientation of an iron can be represented. For ironing a strip of fabric, the ironing motion can be represented in Figure 4. Mathematical Modelling The identified ironing movements are classified into two groups: discrete movement & continuous movement. These two movements are defined below: a. Discrete movement is a distinct iron move- ment to remove the wrinkles or creases on the ironing garment. This discrete movement will be referred to as the "Ironing Profile." Continuous movement is a series of combi- nation of the discrete movements or ironing profiles to remove wrinkles or creases on garment. These discrete moments combined into one continuous movement will be re- ferred to as the "Ironing Path" or "Ironing Trajectory." b. The discrete movements are generally found