Simulation and implementation of calligraphic writing using ABB 1410 industrial manipulator

Abstract

Calligraphy is the art of aesthetically pleasant writing, involving a large number of free form movements of the human arm. Free form movement is considered as an important human task, and the recent developments in Industrial Robotics aim at achieving these movements, hence it has attracted the attention of many researchers in the field of robotics. The scope of this exploration is to develop program for the ABB make IRB 1410 manipulator to trace the vowels of the English alphabet, calligraphically. To achieve the aim, a method is proposed for describing the path with the help of control points. The codes developed are uploaded into the flex pendant of the manipulator and then the simulation is carried out using the IRC5 controller. Thus, this work focuses mainly on bringing the industrial manipulator one step closer to performing free form motion, which has multiple applications like artwork, dentistry, free-form welding and painting, etc.