Behavior-based control of brush drawing robot
Behavior-based control of brush drawing robot
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DOI：
10.1109/tmee.2011.6199408
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
Yang Junyou;Qiu Guilin;M. Le;Bai Dianchun;H. Xu
中科院分区：
文献类型：
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作者：
Yang Junyou;Qiu Guilin;M. Le;Bai Dianchun;H. Xu
在绘制机器人系统中，通常采用逆运动学模型来解决绘制路径的问题，但存在求解机器人运动学逆解、轨迹不在平面内、重影严重等问题。提出了一种基于行为的机器人毛笔画控制方法。采用差动移动法代替了导行点。仿真验证了基于行为的机器人绘图的可行性。在六自由度机器人实验平台上，通过装配一些复杂的行为绘制了一朵兰花。在兰花绘制实验中采用了原创的笔锋控制技术，表明基于行为的控制方案可以应用于机器人的毛笔绘制。仿真和实验表明，基于行为的机器人画笔方案具有较好的效果。
Inverse kinematics model are generally used to solve the problem of drawing paths in drawing robots system, but there are some problems such as solving robot inverse kinematics, trajectories not being in a plane and serious ghosting. This paper presents a behavior-based robot control method of brush drawing. Differential movement was adopted instead of traversal points. Simulation verifies the feasibility of behavior-based robots drawing. On six degrees of freedom robot experimental platform, an orchid was drawn by assembling some complex behaviors. The original technique named Bifeng was used in the orchid drawing experiment, which shows that behavior-based control scheme can be applied to robots brush drawing. Simulation and experiment show that behavior-based robots brush drawing scheme is superior.