Browsing by Subject "creative robotics"

This master's thesis describes the development and validation of a uniform control interface for drawing robots with ROS2. The robot control software was tasked with taking SVG images as input and producing them as drawings with three different robots. These robots are the Evil Mad Scientist AxiDraw V3/A3, UFACTORY xArm Lite6, and virtual xArm Lite6. The intended use case for the robots and companion control software is experiments studying human perception of the creativity of the drawing robots. The control software was implemented over the course of a little over six months and used a combination of C++ and Python. The design of the software utilizes ROS2 abstractions such as nodes and topics to combine different components of the software. The control software is validated against the given requirements and found to fulfil the main objectives of the project. The most important of these are that the robots successfully draw SVG images, that they do so in a similar time frame, and that these images look very similar. Drawing similarity was tested by scanning images, aligning them using using minimal error, and then comparing them visually after overlaying the images. Comparing aligned images was useful in detecting subtle differences in the drawing similarity of the robots and was used to discover issues with the robot control software. MSE and SSIM were also calculated for a set of these aligned images, allowing for the effect of future changes made to the robot control software to be quantitatively evaluated. Drawing time for the robots was evaluated by measuring the time taken for drawing a set of images. This testing showed that the Axidraw's velocity and acceleration needed to be reduced by 56% so that the xArm Lite6 could draw in similar time.