A path generation and control framework for 6-DOF robot in precision writing and drawing

With the development of advanced control systems, robots are being used in many new areas, including hobby, education, and entertainment applications. The most innovative robots are collaborative robots, or cobots, that are designed for easier and safer use with people and are deployed as operational partners for work that requires high levels of skill and versatility. In this paper, we describe an integrated control system for collaborative mobile 6-DOF robots that can automatically write and draw with accurate control of the end effector. Path generation is accomplished with CAD software, specifically SolidWorks, and motion control of writing is performed with the ABB RobotStudio AutoPath feature. The motion of the writing

is controlled from a library of writing with letters, characters, symbols, and figures. For the control of the robot and the ease of use of the system, we created a Human-Machine Interface (HMI) that allows users to write text or select from a library of pre-defined figures and dynamically change the control parameters of the robotic writing instrument. The proposed system has been successfully implemented and tested on an ABB GoFa robot with a high level of accuracy, repeatability, and usability. This system can be used in situations where users want to interact with a robot, such as in public exhibitions or classrooms. This research contributes to the development of

collaborative robotics specialized in precise manipulation tasks.

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