Research Of Robot Copying Calligraphy Technology Based On Style Transfer

As one of the most distinctive traditional cultures in China,calligraphy has a long history of thousands of years.Calligraphy not only occupies an important position in China's historical development,but also has a significant impact on neighboring countries.As the product of the new era,robots can carry out various tasks according to imitate human beings.The writing process of calligraphy provides a powerful research platform for the robot in depth learning and motion control.Since calligraphy has a long history,so its style is varied and the writing process is changeable.Therefore,the application of the robot in calligraphy has made a high demand for the motion control of the robot.Algorithms and techniques involved in robot writing also provide important reference significance in the process of polishing,grinding,spraying,welding and other complex trajectory planning application.In this article,the style transfer of Chinese calligraphy is applied to the experiments of robot copying calligraphy,a new method of robot copying calligraphy based on style transfer is proposed,and complete the corresponding experiments.The main contents of this article are as follows:Firstly,the research background and significance of this article are described,the research status of robot writing technology is introduced,and the main characteristics of the existing writing methods are analyzed.Then,it clarifies the main content of this thesis.Secondly,introducing style transfer into robot calligraphy experiments,a robot calligraphy system that composed of style transfer,image processing,RobotStudio simulation platform,ABB controller,ABB robot,brush and jig is designed.Thirdly,the principle of GAN based on depth learning is introduces.The application of GAN in Chinese style transfer is studied,and completes the corresponding experiments.Then,the style characteristic description parameters of Chinese calligraphy are studied,and designed the corresponding image processing algorithm.According to the character description parameters of Chinese calligraphy,a method of evaluating Chinese character similarity is proposed,which consists of balance,inclination and writing strength.Finally,the relationship between character description parameters of Chinese calligraphy and the control parameters of robot is established.The kinematics analysis and programming of robot writing are carried out through the RobotStudio platform,and the robot writing experiments are carried out.In the end,the similarity between the robot writing effects and the reference images are evaluated.The validity and feasibility of the proposed method are verified.