Painting Trajectory Control Algorithm and Verification for Multi-Dof Robot Arm

Robot color painting process includes stroking and coloring; this manuscript proposed the trajectory control algorithm for a seven-degree freedom robot arm based on replicate drawing. In the stroking process, the image details are extracted by edge detection technology, and the image details are vectorized by edge tracking algorithm. In the colorization process, the idea of block processing is used, and the image erosion and stroke algorithm are combined to complete the colorization. The painted trajectory control algorithm verified with the process of drawing an apple. It provides a new technology and efficient unmanned production way for handicraft industry.