Vision system and projective rectification for a robot drawing platform

A robot drawing platform supporting five degrees of freedom (x, y, and z translation, z-rotation, and pitch) of a brush-pen movement is under development. The platform is aimed at the acquisition, learning, and execution of human techniques in Chinese brush pen painting and calligraphy. Both replication of existing works and rendition of new styles are planned. This paper describes the addition of vision-based capabilities to the platform, together with a demonstration of how the vision information can be used to rectify incorrect decision on branch points in iterative steps.