A drawing robotic hand based on inverse kinematics

TLDR: The paper aims to create a robotic hand having the capability of self drawing and describes the implementations and theory of converting the visual information to depict into pictorial view using inverse kinematics.

Abstract: The paper aims to create a robotic hand having the capability of self drawing. The application of hand is to artificially evolve drawing patterns using the given function. It describes the implementations and theory of converting the visual information to depict into pictorial view. Inverse kinematics is a method used for pronouncing the same. A target is given as an input by the user and accordingly it sketches the same contours on the paper. The purpose behind using inverse kinematics lies in the fact that it doesn't need the information about the location of each specific limb and hereby angle between them it uses mathematical equations to calculate the angle by itself. The robotic hand equipped with prismatic (translational) and revolute (rotational) joint works well even at increased complexity. This work is further extended to make it as an autonomous system. Few example figures are taken as input to test the system and they are plotted without any human intervene.