Behavior-based control of brush drawing robot

Abstract

Inverse kinematics model are generally used to solve the problem of drawing paths in drawing robots system, but there are some problems such as solving robot inverse kinematics, trajectories not being in a plane and serious ghosting. This paper presents a behavior-based robot control method of brush drawing. Differential movement was adopted instead of traversal points. Simulation verifies the feasibility of behavior-based robots drawing. On six degrees of freedom robot experimental platform, an orchid was drawn by assembling some complex behaviors. The original technique named Bifeng was used in the orchid drawing experiment, which shows that behavior-based control scheme can be applied to robots brush drawing. Simulation and experiment show that behavior-based robots brush drawing scheme is superior.