Automatic Portraiture Drawing System Based on Robotic Arm
- Resource Type
- Conference
- Authors
- Mingxin, Ma; Kexin, Wang
- Source
- 2020 IEEE 3rd International Conference on Automation, Electronics and Electrical Engineering (AUTEEE) Automation, Electronics and Electrical Engineering (AUTEEE), 2020 IEEE 3rd International Conference on. :101-105 Nov, 2020
- Subject
- Communication, Networking and Broadcast Technologies
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Image edge detection
Filtering
Robots
Smoothing methods
Manipulators
Cameras
Maximum likelihood detection
image processing
robotic arm
message queue
robotic arm control system
path planning
- Language
This designed system consists of a principle computer within a camera and an ABB robotic arm 120 with its controller IRC5 compact. The image acquisition is realized by the Ni-vision-acquisition block in labVIEW for software. The design involves the median filtering for image smoothing and Canny edge check in the edge extraction area. In the path planning part, a coherent path can be created by searching adjacent 3*3 blocks. Also, five-point mean smoothing is used for path optimization. RAPID Message Queue is chosen for communication between computer and robot controller. According to the experiment, It only takes 4 minutes and 30 seconds to finish drawing a 300mm*400mm size portraiture in a A3 paper.