Cyber Husky Painter

A marvelous husky that can draw very large and neat characters

This husky is not this:

But this:

(Husky Mobile Platform with AUBO Robot Arm)

This is a Husky mobile platform equipped with the AUBO robot arm, we can manipulate it to do some outdoor mobile operations. In our project, we used it to write the four English letters STAR on the ground, which is an abbreviation of the ShanghaiTech Automation and Robotics Center.

We have chosen a long brush for writing, similar to the ones you often see the aged using in the park to practice calligraphy on the ground. Additionally, we have designed a fixture to secure it at the end of a mechanical arm.

(Long brush) (Fixture)

We use the MoveIt package in ROS for planning and executing the motion of the robotic arm. We have sampled the four letters "STAR" and recorded their joint angles. To meet the program's computational requirements, we have converted these joint angles into radians for storage. Initially, we set an initial starting writing position for the robotic arm. Then, we loop through each joint angle vector, executing the writing process. To ensure smooth writing, we have also designed an ink-dipping operation within the program.

(Model of AUBO i3 robot arm shown in Rviz)

(Simple letters)

(Recorded joint angles)

Then we have achieved smooth handwriting both indoors and outdoors.

(Indoor result)

(Outdoor result)