Calligraphy Brush Trajectory Control of by a Robotic Arm
This study proposed a calligraphy brush trajectory model for the behavior of brush movements and provided the three-dimensional handle coordinates for a robotic arm to write calligraphy. This study dealt with basic footprints and bent lines of calligraphy and proceeded as follows. The shape of brush...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/23/8694 |
| _version_ | 1797545642885644288 |
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| author | Hsien-I Lin Xuechao Chen Tian-Tsai Lin |
| author_facet | Hsien-I Lin Xuechao Chen Tian-Tsai Lin |
| author_sort | Hsien-I Lin |
| collection | DOAJ |
| description | This study proposed a calligraphy brush trajectory model for the behavior of brush movements and provided the three-dimensional handle coordinates for a robotic arm to write calligraphy. This study dealt with basic footprints and bent lines of calligraphy and proceeded as follows. The shape of brush footprints on paper was measured, which provided the positions of the brush relative to its handle. These brush footprints were scanned and corrected for skew using the Direct Linear Transformation. The outer frame of each basic footprint was characterized using Bézier curves. Bent lines were drawn to derive the brush trajectory model, and it was used to derive the relationship between the trajectories of the brush and handle. By characterizing the changes in the footprints with handle displacement, we obtained the relationship between the handle coordinates and the position and shape of the brush footprints. The written characters were evaluated based on their size, position, and stroke balance, with a maximum score of 100 in each category. The average score of the “Yong” character written using our brush trajectory model was approximately 94 points; when the handle coordinates were fixed to the center of each footprint, the average score was only 88 points. |
| first_indexed | 2024-03-10T14:19:10Z |
| format | Article |
| id | doaj.art-1b914a80b4fa486fb030e484d261d80f |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T14:19:10Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-1b914a80b4fa486fb030e484d261d80f2023-11-20T23:31:25ZengMDPI AGApplied Sciences2076-34172020-12-011023869410.3390/app10238694Calligraphy Brush Trajectory Control of by a Robotic ArmHsien-I Lin0Xuechao Chen1Tian-Tsai Lin2Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei 106, TaiwanBeijing Institute of Technology, Beijing 100811, ChinaGraduate Institute of Automation Technology, National Taipei University of Technology, Taipei 106, TaiwanThis study proposed a calligraphy brush trajectory model for the behavior of brush movements and provided the three-dimensional handle coordinates for a robotic arm to write calligraphy. This study dealt with basic footprints and bent lines of calligraphy and proceeded as follows. The shape of brush footprints on paper was measured, which provided the positions of the brush relative to its handle. These brush footprints were scanned and corrected for skew using the Direct Linear Transformation. The outer frame of each basic footprint was characterized using Bézier curves. Bent lines were drawn to derive the brush trajectory model, and it was used to derive the relationship between the trajectories of the brush and handle. By characterizing the changes in the footprints with handle displacement, we obtained the relationship between the handle coordinates and the position and shape of the brush footprints. The written characters were evaluated based on their size, position, and stroke balance, with a maximum score of 100 in each category. The average score of the “Yong” character written using our brush trajectory model was approximately 94 points; when the handle coordinates were fixed to the center of each footprint, the average score was only 88 points.https://www.mdpi.com/2076-3417/10/23/8694calligraphy brush trajectory modelrobotic armdirect linear transformationBézier curves |
| spellingShingle | Hsien-I Lin Xuechao Chen Tian-Tsai Lin Calligraphy Brush Trajectory Control of by a Robotic Arm Applied Sciences calligraphy brush trajectory model robotic arm direct linear transformation Bézier curves |
| title | Calligraphy Brush Trajectory Control of by a Robotic Arm |
| title_full | Calligraphy Brush Trajectory Control of by a Robotic Arm |
| title_fullStr | Calligraphy Brush Trajectory Control of by a Robotic Arm |
| title_full_unstemmed | Calligraphy Brush Trajectory Control of by a Robotic Arm |
| title_short | Calligraphy Brush Trajectory Control of by a Robotic Arm |
| title_sort | calligraphy brush trajectory control of by a robotic arm |
| topic | calligraphy brush trajectory model robotic arm direct linear transformation Bézier curves |
| url | https://www.mdpi.com/2076-3417/10/23/8694 |
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