Robotic Freehand Drawing

The objective of this project is to mimic the human motions and use back that information to convert it into robotic motion. The motion selected in this project is drawing activities on top a paper. A robotic arm system was build that can perform image processing from images obtained from a webcam, and use that information to convert it into robotic motion. The human will perform the simple drawings and the image will be captured by the webcam. Using MATLAB interface with its supported hardware, the image will be processed in real time to get the appropriate pulse width modulation (PWM) signals to be fed to the servo motors that acts as a joint for the robotic arm. Various image processing were tested and the object tracking based on colour was used in this project. The robotic arm system was managed to perform linear drawing, but are having difficulties to perform curved drawings perfectly. It was also programmed to detect the differences of when the user makes a drawing or not. Regardless, the important features of the drawing was successfully copied using images from the webcam