International Conference on Computer and Knowledge Engineering

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Generating Hand-Written Symbols With Trajectory Planning Using A Robotic Arm

Authors :

Arya Parvizi¹ Armin Salimi-Badr²

1- Faculty of Computer Science and Engineering, Shahid Beheshti University 2- Faculty of Computer Science and Engineering Shahid Beheshti University

Keywords :

Autonomous Robotics،Robotic Arm،Trajectory Planning،Evolutionary Algorithms،Generative Artificial Intelligence

Abstract :

This paper aims to draw lines, curves, and shapes using a robotic arm without explicit instructions regarding the drawing method. For simplicity, we first consider drawing the digits 0 to 9 in the simulation environment with a robotic arm. Drawing is considered to be denoting a symbol with continuous curves and lines, which is different from the work of a printer. In this paper, evolutionary algorithms were used to find the drawing pattern, and the results were drawn in the \textit{Webots} simulation environment by the \textit{irb4600} robotic arm. Other methods were also studied in this paper, and the advantages and disadvantages of each approach were examined. The advantage of our algorithm is that it allows us to draw any desired shape by the robot without prior training and the need for large amounts of data. The results of this paper can greatly benefit the applications in the industry of autonomous cutting, welding, drawing, and industrial design. We were able to successfully draw various types of shapes and symbols in the simulation and generated an accurate (more than 94\% across distinct runs) trajectory for our robot.