| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 103 === In this thesis, we use image processing and B-Spline to design and implement a six-axis robot manipulator for drawing system which can make user more easy and efficient to control KUKA KR6 R900 robot manipulator. And draw picture out what user wanted. The proposed method is applied to solve picture drawing on path planning for robot manipulator. In this thesis, we focus on drawing system. In traditional method, it needs user to choose drawing points, edit robot manipulator drawing path and edit moving path all by manual, the procedure is time consuming and it’s hard to design. So we propose using image processing technique to recognize image information and extract image contour. And using B-Spline, to curve more smoothly. Last step is transmit drawing command to robot manipulator based on XML structure, And finish drawing task. According to experiment, this method is simple, easy and efficient to control KUKA robot manipulator drawing picture.
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