Design of Imitation and 3D Operations Implemented With a Four-Axis DOBOT

In this paper, the design of the control board and human-machine interface for imitation and 3D operation is implemented with the DOBOT arm mechanism. The coordinate array data of glyphs written on the tablet is captured by the CCD camera. The glyph learning and imitation are implemented by the center point and radius estimation algorithms. In addition, the 3D position and operation procedure planned on the computer window interface will also be converted into a tracking coordinate array and procedure control code. They will be transmitted to the ARM chip on the control board via WIFI or USB, for parallel-quadrilateral link calculation and coordinate conversion of the track, to get the motor control command of the robot arm. The automated monitoring system proposed in this paper is the result of completely self-design and development on software, firmware and hardware. Rotational control accuracy of 0.01125 deg/pulse and writing error of less than 0.5 mm can be achieved.