Overview
This project implements a vision-guided robotic system capable of autonomously writing and drawing with a pen. The system integrates perception, trajectory generation, and motion control within a ROS2 framework to convert visual input into precise end-effector motion.
The goal was to develop a complete perception-to-action pipeline for a structured manipulation task.
System Architecture
Perception
- Camera-based detection of drawing workspace and target shapes
- Image processing pipeline to extract drawing paths from input images or text
Planning
- Conversion of image contours into ordered waypoints
- Path smoothing and scaling to match workspace constraints
- Pen up/down state management for continuous drawing
Control
- ROS2 nodes for trajectory execution
- Real-time communication between perception and motion modules
- End-effector control to maintain consistent contact during drawing
Results
- Successfully generated smooth trajectories for writing and shape drawing
- Achieved accurate pen placement and consistent line quality
- Demonstrated reliable perception-to-motion integration within a ROS2 system
The project showcases a full robotics pipeline combining computer vision, motion planning, and manipulation control.
Key Contributions
- Developed contour extraction and path generation from images
- Implemented ROS2-based modular architecture
- Designed trajectory execution logic with pen state control
- Integrated perception and control into a closed-loop workflow
Demo
