This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.

 Abstract  1. 서 론  2. 본 론   2.1 전체 시스템   2.2 로봇 기구부 설계   2.3 제어 소프트웨어 설계  3. 결론  References

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• 이상필( 한성대학교 정보통신공학과 학사과정) | 이상필
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