Automatic Portraiture Drawing System Based on Robotic Arm

This designed system consists of a principle computer within a camera and an ABB robotic arm 120 with its controller IRC5 compact. The image acquisition is realized by the Ni-vision-acquisition block in labVIEW for software. The design involves the median filtering for image smoothing and Canny edge check in the edge extraction area. In the path planning part, a coherent path can be created by searching adjacent 3*3 blocks. Also, five-point mean smoothing is used for path optimization. RAPID Message Queue is chosen for communication between computer and robot controller. According to the experiment, It only takes 4 minutes and 30 seconds to finish drawing a 300mm*400mm size portraiture in a A3 paper.