Face Drawing by KUKA 6 Axis Robot Manipulator

Abstract

This article describes the algorithm of points extraction from the picture processed by a canny edge detector that will be turned in the curves using the cubic spline interpolation. Here will be presented several examples, including code. Furthermore, this paper will describe steps of creating the system, which will depict on a sheet of paper a picture taken from a web-camera. The system enables a webcam from which will be taken snapshot, the convenient program with the graphical user interface, including algorithms, whose parameters can be changed, TCP server, webcam control, observation of the drawing process and logging. The main drawing component of the system is KUKA KR3 R540. KR3 R540 is robotic system with a manipulator that will take commands to draw a result image.