Real Time Writing Reproduction by Robot Arm

Abstract

Robot writing has been concerned due to the development of industry technique. Previous studies focused on the writing by inputting the predefined motion or characters to the robot, and few work has been done on the real time writing due to the challenges. In this paper we control the robot to write in real time with a 3D camera Kinect. During the implementation, we design an algorithm to accurately track the movement of hand. As the real time requirement, the gap exists between the tracked motion and the writing trajectory. To combat it, we propose a real time interpolation algorithm to trade off the real time and accuracy. Experimental results verify the effectiveness of this system.