Supervisor: Professor Armin Salimi-Badr
Referee: Professor Yaser Shekofteh
Summer 2022

Abstract

In this project, the goal is to draw lines and shapes by a robot without telling the robot explicitly how to draw the shape. This project can be very important and has applications in the industry of cutting, welding, drawing and industrial design. For simplicity, we first considered drawing the English numerical digits 0 to 9 in the simulation environment by a robotic arm. We define drawing as to make continuous lines and trajectories using a pen, which is different from the work of an arbitrary printer. For this purpose, evolutionary algorithms were used to find the drawing pattern, and the results were drawn in the Webots simulation environment by the irb4600 robotic arm. We studied our suggested methods in this project, and the pros and cons of each method have been examined. There are several methods used in previous works; The most basic method is probably printers which draw line by line. There are also robots which can draw a tree or a plant, But cannot necessarily draw a given reference photo. The advantage of our algorithm is that it allows us to draw any desired shape by the robot without prior training and the need for large data i.e. the trajectory with respect to time (video data). This generalized work will also be a step towards the direction of designing designer robots.