Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robot Arm Recognizing and Drawing Various Line Thicknesses

다양한 선 두께들을 인식하고 그리는 로봇 팔

  • Jo, Won-Se (Department of Robot-Automation Engineering, Hoseo University) ;
  • Kim, Dong-Han (Department of Electronics and Radio Engineering, Kyunghee University) ;
  • Rew, Keun-Ho (Department of Robot-Automation Engineering, Hoseo University)
  • 조원서 (호서대학교 로봇공학과) ;
  • 김동한 (경희대학교 전자정보대학) ;
  • 류근호 (호서대학교 로봇공학과)
  • Received : 2013.08.07
  • Accepted : 2013.09.30
  • Published : 2013.12.01
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Abstract

In this paper, a robot arm capable of recognizing and drawing various line thicknesses is developed. Conventional line drawing robots are not capable of adjusting the thickness of lines. However, to draw faster and to enrich the expression of line drawing robots, it is necessary to adjust line thickness using a brush pen. Simple images are acquired and various line thicknesses are recognized by image processing. Trajectories of lines are generated with distance sorting using thinning and corner point detections for each label. Information on line thickness and trajectory is sent to the controller of a robot arm taking into consideration 2D inverse kinematics. Through this process, the robot arm can draw various lines thicknesses along 2D trajectories with 3 motors. Robot arm for detailed drawing will be studied in the future.

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References

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