SSK: Robotic Pen-Art System for Large, Nonplanar Canvas
- 주제(키워드) Computational geometry , mobile manipulation , motion and path planning , robotic art
- 관리정보기술 faculty
- 등재 SCIE, SCOPUS
- 발행기관 Institute of Electrical and Electronics Engineers Inc.
- 발행년도 2023
- 총서유형 Journal
- URI http://www.dcollection.net/handler/ewha/000000211689
- 본문언어 영어
- Published As https://doi.org/10.1109/TRO.2023.3268585
초록/요약
We present a semiautonomous robotic pen-drawing system, called SSK, that is capable of creating pen art on a large nonplanar surface. Our robotic system relies on a seven-degree-of-freedom impedance-controlled manipulator with a three-degree-of-freedom holonomic mobile platform. We use a vector-graphics engine to take an artist's pen drawing as input, and we generate Bézier spline curves to be drawn on the given target drawing canvas. Then, our system finds a set of minimal, discrete configurations for the mobile platform to cover the entire canvas surface while considering the reachability of the manipulator. The drawing is split into multiple subdrawings according to the found configurations. Our system replicates the spline drawing on the target surface using impedance control, which enables us to compensate for the uncertainty and incompleteness inherent to canvas-surface representations and various robotic and sensor noises. We demonstrate that our system can create visually pleasing and complicated pen art on large, nonplanar surfaces. © 2004-2012 IEEE.
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