6-DOF Robotic Sketching & 3D Projection

A complete closed-loop robotic drawing system integrating computer vision, analytical IK, and compliant hardware design.

This project implements a complete closed-loop pipeline for high-precision robotic sketching. It bridges the gap between digital image processing and physical hardware execution on both planar and non-planar surfaces.

🎥 Physical Execution (Real-World Demo)

Drawing Demo 1
Drawing Demo 2
6-DOF manipulator performing continuous-path sketching with consistent stroke quality and passive pressure regulation.

🌐 Advanced Feature: 3D Surface Projection

3D Projection
Non-planar Sketching: Mapping 2D contours onto a cylindrical surface using coordinate transformation and dynamic pose adjustment.

🔍 Vision Pipeline & Final Results

OpenCV-based skeletonization and path node extraction for human figures.
Final sketching outputs showcasing high reconstruction fidelity on paper.

📉 Simulink Simulation & Trajectory Plots

Simulink Simulation
Dynamic simulation in Simscape Multibody to verify kinematic feasibility and joint limits.
Simulated trajectory data and joint-space movement analysis.

🛠️ Hardware: Compliant Gripper & Setup

Detailed view of the spring-buffered compliant gripper.
Experimental platform setup and robot workspace.
Physical calibration of the drawing tools.

Technical Highlights

  • Compliance Control: The custom 3D-printed gripper provides passive pressure regulation, ensuring line continuity across uneven surfaces.
  • IK Solver: Derived and implemented an analytical Inverse Kinematics (IK) solver using D-H parameters in MATLAB.
  • Path Optimization: Employed a greedy Euclidean search for optimal waypoint sequencing to minimize air-time and improve drawing efficiency.