Tool Path Generator for Artistic Drawing with Industrial Robot

Abstract

Approach to robot programming nowadays is focused on writing a robot code for a single task which is then repeated multiple times until a new product is requested to be made. The current focus of research is aimed for programming smart applications that can create a robot program from sensory data, parametric input, point cloud or other digital input. These applications can handle bin picking [1], 3D printing with wire arc welding [2], deburring, milling [2], etc. In this paper, we propose a similar system aimed at portraying people with robot ABB IRB120. The photo is firstly vectorized by software Adobe Illustrator. For vectorizing, a script is written using internal functions for the purpose of creating a unique art style. Then, created vector curves are imported into 3D CAM software called Rhinoceros 3D. Rhinoceros with its plugins Grasshopper and TacoABB offers a way of programming robots in a graphical programing language. The tool path generator is programmed with a focus on the effectivity and time requirements of the resulting robot program. For minimalizing time costs of producing one drawing a traveling salesman problem solution is introduced. The final drawing is in. The created application is used for robotic popularization among the wide public on science exhibitions.