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Dynamical compliant contact modeling of Van Gogh robotic manipulator

Allahverdiyev, Orkhan (2022) Dynamical compliant contact modeling of Van Gogh robotic manipulator. Research Project, Industrial Engineering and Management.


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In recent years, artists and enthusiasts deployed robotic systems that not only replicate the already existing paintings but also develop novel forms of artistic paintings. Mimicking or even trying to match human creativity makes robot art paintings interesting and fascinating. However, fusing robotics with art naturally comes with challenges such as controlling the compliant contact of the robot's end-effector before, during, and after painting on a surface. In order to overcome these challenges, in this project, we study a dynamical compliant contact model that incorporates the dynamical interaction of robot, brush, the transfer of the paint, and compliant interaction between the brush at the end-effector and the canvas. The dynamical model is developed to enable the development of compliant control and paint transfer control systems in order to achieve a smooth, uniform brushstroke on the canvas. We use Quanser 2-DOF serial link manipulator as a robotic system and model the paintbrush as a snubber mechanical system. The proposed model includes the viscous friction force during the panting process, brush deformation, and paint deposition rate from the paintbrush onto the canvas. We show that a simple PID-type controller can be added in order to achieve the desired painting speed and deformation speed of the brush. By applying a higher-level control, the numerical simulations using Matlab/Simulink show that uniform brushstrokes with the desired quality can be maintained.

Item Type: Thesis (Research Project)
Supervisor name: Jayawardhana, B. and Munoz Arias, M.
Degree programme: Industrial Engineering and Management
Thesis type: Research Project
Language: English
Date Deposited: 25 Apr 2022 07:37
Last Modified: 25 Apr 2022 07:37

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