Research On Robot Brush Calligraphy Model

At present,most calligraphy robots believe that the stroke width is only related to the descending height of the brush,and the influence of the tilt of the brush on the calligraphy result is not considered.The reproduction of Chinese calligraphy is divided into two categories: computer-based virtual calligraphy simulation and robot-based actual calligraphy writing.Combining the two can more fully demonstrate the charm of Chinese calligraphy.Aiming at the above two issues,this thesis establishes a robot brush calligraphy model.The main work of the thesis includes the following aspects:(1)Take the actual brush strokes as the research object,improve the virtual brush stroke model based on Bezier curve,add tilt experiment to study the effect of brush tilt on calligraphy results,match the actual brush strokes with the virtual brush strokes fitted by the Bezier curve.the stroke model parameters are obtained through linear regression.(2)A stroke model based on calligraphy rules is proposed,which is used to extract Chinese writing information and build virtual images.First,the Chinese character image is preprocessed,and the genetic algorithm is used to extract the preliminary position information and depth information.Then,according to the calligraphy rules of the three stages of Chinese characters starting,running,and ending,the writing information is optimized to form a virtual simulation picture.(3)A control model based on axis angle is proposed,which uses B-spline curve to complete path planning based on written information,expresses attitude information in axis angle,and performs linear interpolation to achieve attitude planning.The hybrid method is used to obtain the inverse kinematics solution,and the robot calligraphy copy experiment is performed to verify the effectiveness of the method proposed in this thesis.(4)Finally,this thesis puts forward three evaluation indicators from the skeleton,the shape,and the beginning and ending of the strokes.And through experiments,it is proved that the proposed evaluation index can point out the pros and cons of the robot’s writing results,and propose amendments to it,so as to achieve the effect of improving the writing effect of the strokes.