PLANNING HANDWRITING FOR A 2-DOF PLANAR ROBOT ARM

Carlos Sánchez-López¹*

¹ Department of Electronics, Autonomous University of Tlaxcala, Mexico
* Corresponding author: carlsanmx@yahoo.com.mx

ABSTRACT: The design of robotic arms with the ability to write words in handwritten format is a challenging task, involving image processing techniques, modeling and control algorithms. This paper introduces a methodology that facilitates handwriting planning for a two degree of freedom (2-DoF) planar robotic arm. From a handwritten word made with pencil on a sheet with white background, the image is acquired and processed in order to extract the word in (x,y) coordinates on the cartesian space. Afterwards, the collected data are used to compute each rotation angle related with each link of the 2-DoF planar robot arm by using its inverse kinematic model. A simple prototype is built with TowerPro MG995 servomotors and the Arduino DUE development board is used for controlling each servomotor. As a consequence, the 2-DoF planar robot arm can reproduce the handwriting on a blackboard. Experimental tests validate the proposed methodology, demonstrating its suitability, simplicity and effectiveness.

KEYWORDS: Handwriting, 2-DoF planar robot arm, Forward/Inverse kinematic model, reconfigurable hardware, image acquisition

DOI: https://doi.org/10.69076/jomac.2024.0016

CITATION: C. Sanchez-Lopez, PLANNING HANDWRITING FOR A 2-DOF PLANAR ROBOT ARM, International Journal of Mechanics and Control, Vol. 25, No. 01, pp. 115-121, 2024, https://doi.org/10.69076/jomac.2024.0016

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