Drawing Robot
Big Idea
The Robot is hung on a white board with supports on the top corners, holding nylon strings attached to the pulley of the Robot. The pulleys are actuated to move the Robot on the white board.
Working
The image below shows the drawing robot and measurement labels.
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As the robot moves around, the values of Z1 and Z2 are updated based on the encoder measurements from the motor. Given Z1, Z2 and Base, Pythagoras theorem is used to calculate the values of x and y
- An image drawn on a piece of paper is fed into the matlab program for Preprocessing.
- The sketch to be drawn is detected by the program and is extrapolated to reduce the drawing to segements.
- The pixel coordinates are then converted to physical distances.
- The wapoints i.e: x and y values of the Robot's position are calculated from the processed image and is fed as control commands to the motor.