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Drawing Robot by lakshay garg in robots

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lakshay garg
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Please vote for Drawing Robot on this link. Related

Thanx in advance
Arduino IoT Robotic Arm
Fixing my drawing incapability with my robotics skills and to by aerdronix

me results were not that bad. Now I can at least save my self
from humiliation in my drawing class.
DIY Scara Robot Arm
This project is good for beginners and gives sufficient exposure to Robotic Draw Frame
arduino, matlab coding and mechanics. There is not much in the With 2 Stepper Motor
by joulethief669
electronics department. The bot is a basic 2DOF arm with a pen
manipulator. This project involves application of inverse kinematics and "Can" Bot
canny edge detection. by ywj_pheej

Step 1: Parts, Tools and Software Required Weird locomotion

by maria.yablonina
Parts, Tools and Software Required

Gesture Controlled
Robotic Arm Using
Kinect & Arduino
by avinash15101994

1. Mechanical
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Mechanix kit
Nut and bolts
Pen Holder (Clothespin)
2X Caster wheels
2. Electronics
Arduino uno
 PCB or Bread board
Power Supply (5V adapter with 2A current)
USB Cable
3. Servo Motors
servos
4. Tools
Soldering Iron
Soldering Wire
Screw driver
Drilling Machine
5. Software
Arduino IDE
Matlab (with Arduino IO)
Above links are for India, so you can find this stuff with your local
retailer easily.

You can take any servos with torque greater than 7Kg.cm and for bread
board users soldering iron and wire are not required.

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Step 2: Mechanical Design

Mechanical Design

From the pictures above you get the idea of what the design is and how
you should go about assembling it. It is more like playing with maker
kits when you were 5 or 6 years old. So lets start step by step
construction.
1. Drill two holes in each of the horns such that the distance between
the two holes is same for all the horns as given in the picture.
2. Now we have to make a rigid support for one end. Drill four holes at
appropriate distances as the screws of the servo and attach the servo
to the box. We will use this setup to give a rigid support to the setup.
3. Join two combinations of aluminium stripes from the kit to any two
horns as shown in the picture such that the distance between the
two horns should be ~20 cm.
4. Now attach one horn to the servo with rigid support and one to the
other servo and before fixing the horns, calibrate the servos to 90
degrees so that rigid servo is parallel to the stripes and the free end
servo is perpendicular to it.
5. Now take two longest stripes (15 cm) fro the kit and attach them to
the lower end of the free end servo parallel with it.
6. Then attach caster wheels at the bottom of the arm with the pen
which we constructed in step 5 for proper balance and support.
7. The last servo should be attached at the end point of the step 5 with
feviquick or glue gun anything that makes it rigid there.
8. With a stripe of appropriate length and clothespin attach the pen to
the servo such that the distance from the free end horn and the pen
tip should be ~20cm.
While construction two points should be kept in mind that the distances
mentioned above should be 20 cm and calibration should be done
properly. Rest of the construction depends on the availability of parts
and your wish. For example instead of aluminium stripes from the kit
you can use rulers for arms etc.

Step 3: Electronics Part

Electronics Part
 The picture above is self explanatory you can either make a shield for
the arduino as I have done or a bread board for the circuit.

Step 4: Coding

Coding

This part of the project is the most interesting part and the most
important as well.
Let me give you a briefing of what is happening.
First we take an image and find its edges with the help of canny edge
detection and we are going to draw this image. Drawing the image has
two parts
PART 1: First we find the pixel which is 1 as our image is now in
the form of 0s and 1s and then check its local pixels if any one
of them is also 1 then the pen reaches that pixel and deletes
the previous 1. The function repeats it self recursively and
creates smooth lines.

PART 2: The second part involves the inverse kinematics part of

how to reach that particular pixel. It simply takes in the
coordinates of the pixel and calculates the corresponding
angles for the pivots, the calculations are shown in the above
picture.
The above explanation is not required for the execution of the code it is
just for understanding.
Now how to setup Matlab and arduino for the execution of the code.
First install the arduino IO package on matlab (all the instructions are
given with the package).
Now replace the arduino.m file with the file the file that I have
uploaded with same name.
Download and save finaldraw.m and draw.m in matlab directory.
Upload the adioes.ino file that I have uploaded to the arduino board.
See to which port your arduino is connected and then go to finaldraw.m
and change COM3 to your port.
Change the extension of the image which you want to draw to .png.
This can be done in any image editor now save this image to the matlab
directory. Open the finaldraw.m and change emma.png to your image
name with .png extension.Save the finaldraw.m file.
I have uploaded the picture of emma watson as a sample, so you can
use it for testing and you can also adjust the parameters of the canny
edge detection function according to your need.
We are done now connect the arduino to your PC and switch on the
power supply and type finaldraw in matlab command line. HAVE FUN !!!
If you are facing any problems then comment below.

Download
 Download
finaldraw.m
Download
draw.m
Download
arduino.m
Download
adioes.ino

Step 5: Coding Continued..........

Coding Continued..........

The working of the algorithm is very simple, it is just the matter of

visualizing how the bot approaches the image drawing.
This is an elaborate explanation and feel free to skip it.
Firstly, I convert the the image that I want to draw in png format using
some image editor, then I save the Image in the matlab directory. Now
our algorithm converts this image using canny edge detection as given
in the image above. The mysterious part is drawing this image.
What the algo does is it starts checking the pixels of the converted
image and when it finds 1 which is indicated as the white pixel in the
image above, the pen tip reaches that point (The reaching part is
covered in the previous step clearly) and puts the pen down then it
checks neighboring 8 pixels, if it finds a 1 it reaches that point without
lifting the pen up and deletes the previous pixel to avoid repetition. Now
this continues till it finds no 1s in the neighborhood(this is a recursive
function) hence it draws smooth line deleting it simultaneously. Then it
completes other branches of lines that emerge from the drawn line as it
checks every neighboring pixel. This algorithm ultimately creates the
whole image. Now watch the video given in the beginning again and try
to connect the dots you will surely feel a GEEKY MENTAL ORGASM that I
felt when I figured this elegant algorithm after a lot of failed attempts.
HOPE YOU LIKED MY INSTRUCTABLE IT WAS MY FIRST SO APOLOGIES
FOR A ROUGH TUTORIAL!!!!!!!

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