CN110271016B - Mechanical arm calligraphy writing system and method based on boundary and force feedback - Google Patents
Mechanical arm calligraphy writing system and method based on boundary and force feedback Download PDFInfo
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- CN110271016B CN110271016B CN201910566156.9A CN201910566156A CN110271016B CN 110271016 B CN110271016 B CN 110271016B CN 201910566156 A CN201910566156 A CN 201910566156A CN 110271016 B CN110271016 B CN 110271016B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a mechanical arm calligraphy writing system and method based on boundary and force feedback, wherein the writing system comprises: the visual part is used for acquiring image information of a given font, and determining coordinates of a pen-down point and a pen-up point at the tail end of the mechanical arm and an expected force of the force feedback part; the mechanical arm part is used for controlling the position of the tail end of the writing brush and the contact force between the tail end of the writing brush and the writing paper board according to the coordinates of the pen falling point and the pen lifting point at the tail end of the mechanical arm; the force feedback part is used for measuring the contact force between the tail end of the writing brush and the writing paper board in real time and feeding the contact force back to the mechanical arm part; and the processor part is used for image processing and the mechanical arm part drives the track of the tail end of the writing brush and the contact force with the writing paper board. The invention uses a method combining vision and force control to enable the mechanical arm to automatically adjust the contact force between the pen end and the paper surface while completing calligraphy font writing, thereby achieving the effect of simulating calligraphy force change, and being widely applied to the fields of robot teaching, industrial mechanical arm carving and the like.
Description
Technical Field
The invention relates to the technical application field of humanoid wheel type robots, in particular to a mechanical arm calligraphy writing system and method based on boundary and force feedback.
Background
In recent years, the application of mechanical arms is gradually moving from factories to people's daily life. Writing with mechanical arms is also gaining increasing attention. In fact, most of the calligraphy mechanical arms on the market have low degree of freedom, poor operability and insufficient flexibility. Moreover, although several writing robots appear, the writing robots are technically limited to position control of the tail ends of the mechanical arms, and do not consider the mechanical skill in calligraphy. The simple outline of the Chinese character can not meet the aesthetic requirements of people obviously. On the other hand, how to add vision into the calligraphy mechanical arm enables the mechanical arm to automatically acquire Chinese character information without manual input is a problem which is not solved by the existing calligraphy mechanical arm.
The mechanical arm calligraphy writing system based on the boundary and force feedback can solve the existing problems.
Disclosure of Invention
Aiming at the technical problems, the invention provides a mechanical arm calligraphy writing system and method based on boundary and force feedback, mainly solves the problems that the existing calligraphy mechanical arm is restricted by freedom degree, lacks force control and visual feedback, has a single application scene and the like, combines force control and visual feedback together, and realizes the functions of autonomously acquiring Chinese character outlines and autonomously correcting calligraphy power.
The invention is realized by the following technical scheme:
a robotic arm calligraphic writing system based on boundary and force feedback, comprising:
the visual part is used for acquiring image information of a given font, determining coordinates of a pen drop point and a pen lifting point at the tail end of the mechanical arm after processing to obtain stroke contour information of the font, and meanwhile determining expected force of the force feedback part according to a stroke boundary of the font written by the mechanical arm for the first time;
the mechanical arm part is used for controlling the position of the tail end of the writing brush according to the coordinates of the pen falling point and the pen lifting point at the tail end of the mechanical arm, and meanwhile, the contact force between the tail end of the writing brush and a writing paper board is controlled according to the coordinates in the direction perpendicular to the paper surface of the tail end of the writing brush adjusted by the expected force of the force feedback part;
the force feedback part is used for measuring the contact force between the tail end of the writing brush and the writing paper board in real time in the writing process and feeding the contact force back to the mechanical arm part;
and the processor part is used for processing images in the writing process and operating the mechanical arm, and controlling the track of the tail end of the writing brush driven by the mechanical arm part and the contact force between the writing brush and the writing paper board.
Further, the processor part is a high-performance processor with a GPU.
Further, the model of the high-performance processor with the GPU is nvidiajeston tx 2.
Further, the vision part is a binocular camera, such as a ZED depth binocular camera.
Further, the force feedback part adopts a torque sensor, such as an SRI six-dimensional force/torque sensor.
Furthermore, the mechanical arm part adopts a six-degree-of-freedom mechanical arm.
A mechanical arm calligraphy writing method based on boundary and force feedback comprises the following steps:
(1) determining coordinates of a pen-down point and a pen-up point at the tail end of the mechanical arm according to the collected given font stroke contour information, and simultaneously determining expected force of a force feedback part according to a stroke boundary of the fonts written by the mechanical arm;
(2) controlling the position of the tail end of the writing brush according to coordinates of a writing point and a writing point at the tail end of the mechanical arm, and meanwhile, adjusting the coordinates in the direction vertical to the paper surface of the tail end of the writing brush according to the expected force of the force feedback part to control the contact force between the tail end of the writing brush and the writing paper plate;
(3) the contact force between the tail end of the writing brush and the writing paper board in the writing process is measured in real time, and the mechanical arm part is controlled to drive the tail end of the writing brush to finish writing according to the set track and the contact force between the tail end of the writing brush and the writing paper board.
Further, the step (1) specifically comprises:
(1.1) acquiring given font stroke contour information;
(1.2) extracting coordinates of stroke starting and ending positions;
(1.3) converting the coordinates into coordinates of a pen falling point and a pen lifting point of the tail end of the mechanical arm in a world coordinate system;
(1.4) extracting stroke boundaries of the font primarily written by the mechanical arm;
(1.5) comparing the stroke boundary size of the initial written font with the given font;
(1.6) transmitting information to the force feedback section to determine the desired force.
Further, the step (1.1) specifically comprises:
(1.1.1) adopting a horizontal-vertical difference method: after extracting the contour, obtaining a plurality of closed polygons, namely each point has two connecting points, but some end points can be generated at the acute angle of the contour, the end points have only one connecting point, which is called as isolated points, so that the points are removed for tracking, the processed contour forms a plurality of closed complex polygons, and each point on the polygon has two connecting points;
(1.1.2) detection of feature points: different from the skeleton after thinning, all points on the font outline have only 2 connection points, and the conditions of end points and bifurcation points do not exist; the characteristic points on the stroke contour mainly comprise angular points at the starting and stopping positions of the stroke, intersection points at the intersection positions of the strokes and turning points of the stroke; after extracting feature points on the contour, two sequences are obtained: the sequence of points and the sequence of feature points on the contour can be expressed as:
edge[k]＝(p 0 ,p 1 ,...,p i ,p n-1 ,p n ) (1)
fp(k)＝(i 0 ,i 1 ,...,i m-1 ,i m ) (2)
in the formula, edkg [ k ]]Is the point sequence of the k-th contour, fp (k) is the characteristic point sequence of contour k, where i j Indicating that the jth feature point is at edkg [ k ]]The last point last of the jth characteristic point is i j -1, next point next is i j +1；
(1.1.3) number of feature points: the characteristic points of the profiles are numbered clockwise or anticlockwise, so that the profiles are numbered for distinguishing different profiles conveniently; the serial numbers of the contours are arranged according to the sequence of the highest points of the contours from top to bottom and from left to right in the program processing; and for the outline, there are inner edge and outer edge, if there are parts in the original image of the font to form a closed connected region, then after extracting the outline, it will form a condition that the outer outline of the connected region completely contains its inner outline, the outer outline is called as the father outline, and the inner outline contained therein is called as the son outline, when numbering the characteristic points, the father outline and the son outline of an independent outline are numbered in the reverse order.
Further, the step (2) specifically comprises:
(2.1) acquiring the position and the boundary of a writing paperboard, wherein the position of the writing paperboard is usually set on a plane, the mechanical arm determines the plane by setting three points which are not on the same straight line, and meanwhile, the boundary condition is added when the plane is set, so that the mechanical arm is prevented from moving to an area outside the plane of the writing paperboard;
(2.2) moving the tail end of the writing brush to the positions of a desired writing point and a desired writing point acquired from a binocular camera, calculating the angle of rotation required by each joint in the process that the tail end of the writing brush moves to the desired writing point by using an inverse kinematics method, and adopting an algorithm of redundant Jacobian matrix inversion:
selecting a right pseudo-inverse matrix (right-inverse) by the equation:
using the Lagrange Multiplier method (Lagrange Multiplier),
the required solution can be solved by carrying out derivation on the above formula;
and (2.3) adjusting the coordinate in the direction vertical to the paper surface according to the expected force provided by the force feedback part, and increasing or decreasing the height of the tail end of the writing brush so as to reduce or increase the contact force between the tail end of the writing brush and the writing paper board.
Compared with the prior art, the invention has the advantages and beneficial effects that:
1. the method of combining the mechanical arm and the vision is adopted, the vision technology is integrated into a calligraphy writing system of the mechanical arm, the calligraphy stroke outline information can be rapidly acquired, and the information is transmitted to the mechanical arm to be written. The whole process is completed by the processor, the method is quick, simple and convenient, has very good practical value, and fully plays the role of the artificial intelligence algorithm.
2. The force feedback module is added in the system for writing calligraphy by the mechanical arm, so that the whole system has self-adjusting capacity, the self-learning and self-optimizing effects on the written fonts are realized, meanwhile, the mechanical arm calligraphy writing system with force control can adapt to more scenes, the calligraphy can be written in different environments, and the beauty of the calligraphy is embodied to the greatest extent.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a mechanical arm calligraphy writing system based on boundary and force feedback according to an embodiment of the invention.
Fig. 2 is a schematic diagram illustrating feature point detection and numbering obtained by a stroke contour of a mechanical arm calligraphy writing method based on boundary and force feedback according to an embodiment of the present invention.
In the figure: 1-six degree of freedom mechanical arm; 2-a binocular camera; 3-writing paper board; 4-a torque sensor; 5-writing brush.
Detailed Description
The working principle and working process of the present invention will be further explained in detail with reference to the accompanying drawings.
As shown in fig. 1, a robotic arm calligraphy writing system based on boundary and force feedback, comprising:
the visual part is used for acquiring image information of a given font, determining coordinates of a pen drop point and a pen lifting point at the tail end of the mechanical arm after processing to obtain stroke contour information of the font, and meanwhile determining expected force of the force feedback part according to a stroke boundary of the font written by the mechanical arm for the first time;
the mechanical arm part is used for controlling the position of the tail end of the writing brush according to the coordinates of the pen falling point and the pen lifting point at the tail end of the mechanical arm, and meanwhile, the contact force between the tail end of the writing brush 5 and the writing paper board 3 is controlled according to the coordinates in the direction perpendicular to the paper surface of the tail end of the writing brush adjusted by the expected force of the force feedback part;
the force feedback part is used for measuring the contact force between the tail end of the writing brush and the writing paper board in real time in the writing process and feeding the contact force back to the mechanical arm part;
and the processor part is used for processing images in the writing process and calculating the operation process of the mechanical arm, and controlling the track of the tail end of the writing brush driven by the mechanical arm part and the contact force between the writing brush and the writing paper board 3.
The processor part is a high-performance processor with a GPU.
The model of the high-performance processor with the GPU is NVIDIAJestonTX 2.
The vision part is a binocular camera 2, such as a ZED depth binocular camera.
The force feedback part adopts a torque sensor, such as an SRI six-dimensional force/torque sensor.
The mechanical arm part adopts a six-degree-of-freedom mechanical arm 1.
A mechanical arm calligraphy writing method based on boundary and force feedback comprises the following steps:
(1) determining coordinates of a pen-down point and a pen-up point at the tail end of the mechanical arm according to the collected given font stroke contour information, and simultaneously determining expected force of a force feedback part according to a stroke boundary of the fonts written by the mechanical arm;
(2) controlling the position of the tail end of the writing brush according to coordinates of a writing point and a writing point at the tail end of the mechanical arm, and meanwhile, adjusting the coordinates in the direction vertical to the paper surface of the tail end of the writing brush according to the expected force of the force feedback part to control the contact force between the tail end of the writing brush and the writing paper plate;
(3) and measuring the contact force between the tail end of the writing brush and the writing paper board in real time in the writing process, and controlling the mechanical arm part to drive the tail end of the writing brush to finish writing according to a set track and the contact force between the tail end of the writing brush and the writing paper board.
Further, the step (1) specifically comprises:
(1.1) acquiring given font stroke contour information;
(1.2) extracting coordinates of stroke starting and ending positions;
(1.3) converting the coordinates into coordinates of a pen falling point and a pen lifting point of the tail end of the mechanical arm in a world coordinate system;
(1.4) extracting stroke boundaries of the font primarily written by the mechanical arm;
(1.5) comparing the stroke boundary size of the initial written font with the given font;
(1.6) transmitting information to the force feedback section to determine the desired force.
Specifically, as shown in fig. 2, the step (1.1) specifically includes:
(1.1.1) adopting a horizontal-vertical difference method: after extracting the contour, obtaining a plurality of closed polygons, namely each point has two connecting points, but some end points can be generated at the acute angle of the contour, the end points have only one connecting point, which is called as isolated points, so that the points are removed for tracking, the processed contour forms a plurality of closed complex polygons, and each point on the polygon has two connecting points;
(1.1.2) detection of feature points: different from the skeleton after thinning, all points on the font outline have only 2 connection points, and the conditions of end points and branch points do not exist; the characteristic points on the stroke contour mainly comprise angular points at the starting and stopping positions of the stroke, intersection points at the intersection positions of the strokes and turning points of the stroke; after extracting feature points on the contour, two sequences are obtained: the sequence of points and the sequence of feature points on the contour can be expressed as:
edge[k]＝(p 0 ,p 1 ,...,p i ,p n-1 ,p n ) (1)
fp(k)＝(i 0 ,i 1 ,...,i m-1 ,i m ) (2)
in the formula, edkg [ k ]]Is the point sequence of the k-th contour, fp (k) is the characteristic point sequence of contour k, where i j Indicating that the jth feature point is at edkg [ k ]]The last point last of the jth characteristic point is i j -1, next point next is i j +1；
(1.1.3) number of feature points: the characteristic points of the profiles are numbered clockwise or anticlockwise, so that the profiles are numbered for distinguishing different profiles conveniently; the serial numbers of the contours are arranged according to the sequence of the highest points of the contours from top to bottom and from left to right in the program processing; and for the outline, there are inner edge and outer edge, if there are parts in the original image of the font to form a closed connected region, then after extracting the outline, it will form a condition that the outer outline of the connected region completely contains its inner outline, the outer outline is called as the father outline, and the inner outline contained therein is called as the son outline, when numbering the characteristic points, the father outline and the son outline of an independent outline are numbered in the reverse order.
Specifically, the step (2) specifically includes:
(2.1) acquiring the position and the boundary of a writing paperboard, wherein the position of the writing paperboard is usually set on a plane, the mechanical arm determines the plane by setting three points which are not on the same straight line, and meanwhile, the boundary condition is added when the plane is set, so that the mechanical arm is prevented from moving to an area outside the plane of the writing paperboard;
(2.2) moving the tail end of the writing brush to the positions of a desired writing point and a desired writing point acquired from a binocular camera, calculating the angle of rotation of each joint in the process of moving the tail end of the writing brush to the desired writing point by using an inverse kinematics method, and adopting an algorithm of redundant Jacobian matrix inversion:
selecting a right pseudo-inverse matrix (right-inverse) by the equation
Using the Lagrange Multiplier method (Lagrange Multiplier),
the required solution can be solved by carrying out derivation on the above formula;
and (2.3) adjusting the coordinate in the direction vertical to the paper surface according to the expected force provided by the force feedback part, and increasing or decreasing the height of the tail end of the writing brush so as to reduce or increase the contact force between the tail end of the writing brush and the writing paper board.
In the embodiment, the image information of the given font is acquired through the binocular camera, the stroke of the font is determined through processing, the coordinates of the initial position and the final position of the stroke are extracted and converted into the coordinates of the falling point and the lifting point of the tail end of the mechanical arm in a world coordinate system, the stroke information written by the mechanical arm for the first time is extracted through the binocular camera, the size of the stroke boundary of the written font and the given font is compared, the stroke boundary is fed back to the mechanical arm through the torque sensor, the contact force between the tail end of the mechanical arm and the paper surface is adjusted, and the effect that the mechanical arm simulates calligraphy and changes in force is achieved. The robot calligraphy writing system of the embodiment uses a method combining vision and force control to enable the mechanical arm to automatically adjust the contact force between the tail end and the paper surface while finishing calligraphy font writing, so that the effect of simulating calligraphy force path change is achieved, and the robot calligraphy writing system can be widely applied to the fields of robot teaching, industrial mechanical arm carving and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A mechanical arm calligraphy writing method based on boundary and force feedback is characterized by comprising the following steps:
(1) determining coordinates of a pen-down point and a pen-up point at the tail end of the mechanical arm according to the collected given font stroke contour information, and simultaneously determining expected force of a force feedback part according to a stroke boundary of the fonts written by the mechanical arm;
(2) controlling the position of the tail end of the writing brush according to coordinates of the writing point and the writing point at the tail end of the mechanical arm, and meanwhile, adjusting the coordinates of the tail end of the writing brush in the direction perpendicular to the paper surface according to the expected force of the force feedback part to control the contact force between the tail end of the writing brush and a writing paper board, wherein the step (2) specifically comprises the following steps:
(2.1) acquiring the position and the boundary of a writing paperboard, wherein the position of the writing paperboard is usually set on a plane, the mechanical arm determines the plane by setting three points which are not on the same straight line, and meanwhile, the boundary condition is added when the plane is set, so that the mechanical arm is prevented from moving to an area outside the plane of the writing paperboard;
(2.2) moving the tail end of the writing brush to the positions of a desired writing point and a desired writing point acquired from a binocular camera, calculating the angle of rotation of each joint in the process of moving the tail end of the writing brush to the desired writing point by using an inverse kinematics method, and adopting an algorithm of redundant Jacobian matrix inversion:
selecting a right pseudo-inverse matrix (right-inverse) by the equation:
using the Lagrange Multiplier method (Lagrange Multiplier),
the required solution can be obtained by derivation of the above formula;
(2.3) adjusting the coordinate in the direction vertical to the paper surface according to the expected force provided by the force feedback part, and increasing or decreasing the height of the tail end of the writing brush so as to reduce or increase the contact force between the tail end of the writing brush and the writing paper board;
(3) measuring the contact force between the tail end of the writing brush and a writing paper board in real time in the writing process, and controlling the mechanical arm part to drive the tail end of the writing brush to finish writing according to a set track and the contact force between the tail end of the writing brush and the writing paper board;
the step (1) specifically comprises the following steps:
(1.1) obtaining given font stroke outline information, wherein the step (1.1) specifically comprises the following steps:
(1.1.1) adopting a horizontal-vertical difference method: after extracting the contour, obtaining a plurality of closed polygons, namely each point has two connecting points, but some end points can be generated at the acute angle of the contour, the end points have only one connecting point, which is called as isolated points, so that the points are removed for tracking, the processed contour forms a plurality of closed complex polygons, and each point on the polygon has two connecting points;
(1.1.2) detection of feature points: different from the skeleton after thinning, all points on the font outline have only 2 connection points, and the conditions of end points and bifurcation points do not exist; the characteristic points on the stroke contour mainly comprise angular points at the starting and stopping positions of the stroke, intersection points at the intersection positions of the strokes and turning points of the stroke; after extracting feature points on the contour, two sequences are obtained: the sequence of points and the sequence of feature points on the contour can be expressed as:
edge[k]＝(p 0 ,p 1 ,...,p i ,p n-1 ,p n ) (4)
fp(k)＝(i 0 ,i 1 ,...,i m-1 ,i m ) (5)
in the formula, edkg [ k ]]Is the point sequence of the k-th contour, fp (k) is the characteristic point sequence of contour k, where i j Indicating that the jth feature point is at edkg [ k ]]The last point last of the jth characteristic point is i j -1, next point next is i j +1；
(1.1.3) number of feature points: the characteristic points of the profiles are numbered clockwise or anticlockwise, so that the profiles are numbered for distinguishing different profiles conveniently; the serial numbers of the contours are arranged according to the sequence of the highest points of the contours from top to bottom and from left to right in the program processing; and for the outline, there are inner edge and outer edge, if there are parts in the original picture of the typeface to form the closed connected region, after extracting the outline at this moment, will form the outer outline of a connected region and include its inner outline completely, call the outer outline as the father outline, and call its inner outline included as the son outline, when numbering the characteristic point, the father outline and son outline of an independent outline are numbered according to the opposite order;
(1.2) extracting coordinates of stroke starting and ending positions;
(1.3) converting the coordinates into coordinates of a pen falling point and a pen lifting point of the tail end of the mechanical arm in a world coordinate system;
(1.4) extracting stroke boundaries of the font primarily written by the mechanical arm;
(1.5) comparing the stroke boundary size of the initial written font with the given font;
(1.6) transmitting information to the force feedback section to determine the desired force;
the system for realizing the mechanical arm calligraphy writing method based on the boundary and force feedback comprises the following steps:
the visual part is used for acquiring image information of a given font, determining coordinates of a pen drop point and a pen lifting point at the tail end of the mechanical arm after processing to obtain stroke contour information of the font, and meanwhile determining expected force of the force feedback part according to a stroke boundary of the font written by the mechanical arm for the first time;
the mechanical arm part is used for controlling the position of the tail end of the writing brush according to the coordinates of the pen falling point and the pen lifting point at the tail end of the mechanical arm, and meanwhile, the contact force between the tail end of the writing brush and a writing paper board is controlled according to the coordinates in the direction perpendicular to the paper surface of the tail end of the writing brush adjusted by the expected force of the force feedback part;
the force feedback part is used for measuring the contact force between the tail end of the writing brush and the writing paper board in real time in the writing process and feeding the contact force back to the mechanical arm part;
and the processor part is used for processing images in the writing process and operating the mechanical arm, and controlling the track of the tail end of the writing brush driven by the mechanical arm part and the contact force between the writing brush and the writing paper board.
2. The mechanical arm calligraphy writing method based on boundary and force feedback of claim 1, characterized in that said processor part is a high-performance processor with GPU.
3. The mechanical arm calligraphy writing method based on boundary and force feedback as claimed in claim 2, characterized in that the model of the high-performance processor with GPU is NVIDIAJeston TX 2.
4. The mechanical arm calligraphy writing method based on boundary and force feedback as claimed in claim 1, characterized in that the visual part is a binocular camera.
5. The mechanical arm calligraphy writing method based on boundary and force feedback of claim 1, characterized in that said force feedback part uses torque sensor.
6. The method as claimed in claim 1, wherein the robotic arm portion is a six degree of freedom robotic arm.
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| CN111452049B (en) * | 2020-04-16 | 2022-04-05 | 珠海格力智能装备有限公司 | Robot motion control method and device |
| CN112248006A (en) * | 2020-10-29 | 2021-01-22 | 哈工大机器人湖州国际创新研究院 | Writing control method for mechanical arm writing brush |
| CN112192576A (en) * | 2020-10-29 | 2021-01-08 | 哈工大机器人湖州国际创新研究院 | Mechanical arm Chinese character writing control method |
| CN112959320A (en) * | 2021-02-08 | 2021-06-15 | 广州富港万嘉智能科技有限公司 | Method and device for controlling automatic writing of manipulator, manipulator and system |
| CN112975958B (en) * | 2021-02-08 | 2023-04-28 | 广州富港生活智能科技有限公司 | Method and device for generating path points of stroke orders of characters and manipulator control system |
| CN113506491A (en) * | 2021-07-06 | 2021-10-15 | 高志坤 | Auxiliary grid for window grid Chinese character writing exercise and window grid-based Chinese character writing method |
| CN114919313A (en) * | 2022-04-05 | 2022-08-19 | 三峡大学 | Device and method for generating man-machine interaction font and writing characters |
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