Motion planning and control of a picture-based drawing robot system

摘要

The traditional drawing robot applications mostly need lots of manpower to select plotting points and determine the drawing process, which would took a long time and hard to design. To solve this problem, this paper proposes a drawing robot system, which can draw a picture what user wanted. There are two main parts in the drawing robot system. One is the delta robot manipulator that includes inverse kinematics and motor position control, and the other is image processing which detect edges and do motion planning for an image. Finally, the experiment results illustrate that the drawing robot system can save enormous labor resources and time by executing automatically. The detailed contributions of this paper are listed as follows: (1) the drawing robot system executes more efficiently compared to previous works. (2) The drawing robot system can save enormous labor resources and time by executing automatically. (3) The drawing robot system provides the results with high integrity.