The Intelligent Calligraphy Robot

• Main Authors: SHU-CHING HSU, 許舒晴
• Other Authors: Shiuh-Jer Huang
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/krw28r

碩士 === 國立臺灣科技大學 === 機械工程系 === 107 === In this thesis, a five degrees of freedom industrial robot arm is integrated with PC-Based user interface as a calligraphy robotic system. It’s convenient for the user to guide the robotic arm to write Chinese character based on user interface input. A user interface is designed with handwriting function and OCR technology is employed to identify handwritten Chinese characters. Based on the standard regular script picture, and the calligraphy experience rule, the eight principles of Yong trajectory plan were proposed to, convert the handwritten Chinese character into calligraphy strokes coordinate and stroke order for robotic end effector motion trajectory. The strokes and stroke information are transmitted to the robotic arm controller through the non-synchronous transceiver (UART) for monitoring the robot arm to write the Chinese character. The Altera FPGA was chosen as the robotic arm control architecture. Its main function is to receive the position and posture data from PC and monitor the robotic arm motion. The Nios II development board uses digital hardware circuits to implement signal acquisition and output control function, including decoder, filter, PWM, I2C, and SDRAM controller etc. User interface, kinematics, inverse kinematics, FSMC and trajectory planning were written as software program in Nios II.