Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2013.13.1951

Robot Arm Recognizing and Drawing Various Line Thicknesses  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.12, 2013 , pp. 1105-1110 More about this Journal
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.
Keywords
line drawing robot; robot arm; open CV; image processing; inverse kinematics; line thickness;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 H. Chris and M. Stephens, "A combined corner and edge detector," Alvey Vision Conference, vol. 15, 1988.
2 T.-H. Kang and B.-K. Kim, "Efficient online path planning algorithm for mobile robots in dynamic indoor environments," Automatica (in Korean), vol. 7, no. 17, pp. 619-729, Jul. 2011.
3 S. H. Joo, and J. H. Lee, "A dynamic modeling of 6${\times}$6 skid type vehicle for real time traversability analysis over curved driving path," Automatica (in Korean), vol. 4, no. 18, pp. 295-399, Apr. 2012.
4 A. Srikaew, M. E. Cambron, S. Northrup, R. A. Peters II, D. M. Wilkes, and K. Kawamura, "Humanoid drawing robot," IASTED International Conference on Robotics and Manufacturing, Banff, Canada, July,1998.
5 S. Calinon, J. Epiney, and A. Billard, "A humanoid robot drawing human portraits," IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2005.
6 P. Tresset and F. F. Leymarie, "Generative portrait sketching," 11th Int. Conf. on Virtual Systems and Multi Media, Hal Twites, ed., Archaeolingua pub., pp. 739-748, 2005.
7 J. Baltes, C. T. Cheng, M. C. Lau, and J. Anderson, "Cost oriented automation approach to upper body humanoid robot," 18th Int. Federation of Automatic Control (IFAC) World Congress Milano (Italy), pp. 12674-12679, 2011.
8 G. J. Lee and S. W. Kim, "Trajectory optimization method for portrait drawing robot," Korea Information Processing Society, vol. 18, no. 1, pp. 1165-1168, 2011.
9 R. Brunelli and T. Poggio, "Face recognition: Features versus templates," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 15, no. 10, pp. 1042-1052, 1993.   DOI   ScienceOn
10 B. Heisele, P. Ho, and T. Poggio, "Face recognition with support vector machines: Global versus component based approach," In Proc. 8th International Conference on Computer Vision, vol. 2, pp. 688-694, Vancouver, 2001.
11 AX-12A Motor manual: http://support.robotis.com/ko/product/dynamixel/ax_series/dxl_ax_actuator.htm
12 B. Heisele, T. Serre, M. Pontil, and T. Poggio, "Component-based face detection," In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, vol. 1, pp. 657-662, Hawaii, 2001.
13 A. Mohan, C. Papageorgiou, and T. Poggio, "Example-based object detection in images by components," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 23, pp. 349-361, Apr. 2001.   DOI   ScienceOn
14 H. Schneiderman and T. Kanade, "A statistical method for 3D object detection applied to faces and cars," In Proc. IEEE Conference on Computer Vision and Pattern Recognition, pp. 746-751, 2000.
15 Basic examples for robots: http://support.robotis.com/ko/software/embeded_c/cm530/example_stm.htm
16 S. H. Park and Y. Oh, ARM Cortex-M3 system programming I (Korean), D&R Wave pub., 2011.
17 S. H. Park and Y. Oh, ARM Cortex-M3 system programming II (Korean), D&R Wave pub., 2011.
18 D. K. Kim, OpenCV Programming, Kame Pub., 2011.
19 R. Laganire, OpenCV 2 Computer Vision Application Programming Cookbook, Acorn Pub., 2012.
20 G. R. Bradski, Learning OpenCV: Computer Vision with the OpenCV Library, Hanbit Media Pub., 2009.
21 J. J. Craig, Introduction to Robotics, Pearson Pub., 2005.
22 Robot Arm Recognizing and Drawing Various Line Thicknesses by Authors: http://www.youtube.com/watch?v=dbpyquefRUk