Research On Robot Writing Method

Robot writing is the main method for automatic marking of products on the automatic production line.However,the existing equipment can only write numbers and characters.There are still some problems to be solved in the automatic marking of Chinese characters and graphics.In this thesis,the automatic writing method of Chinese characters by industrial robots is studied.The system of the TrueType vector font structure and the node data structure in the TrueType font is systematically studied,and the vector word is drawn by Visual Studio.Then the process of the robot drawing the vector word is simulated.This method can not achieve continuous multi-character writing,each time you finish writing a character,you need to start again,and the writing efficiency is relatively low.In order to solve the problem of writing efficiency,a scalable vector graphics(SVG)vector word rendering method is studied.The SVG file is parsed in Python,and the data of the starting point,end point and shape of each stroke is obtained.The curve is approximated and the planning method is used to normalize the different curves into cubic Bezier curves for unified operation.Improve writing efficiency.A simulation study using KR10 R900,a KUKA industrial robot,is carried out to verify the feasibility of the proposed method.