Drawing Robot

2021 · kinematics, simulation, python, pygame

2-link drawing robot rendered with forward kinematics using translation/rotation matrices and homogenous coordinates. Closed form inverse kinematics are used to move arm to desired point and images are converted to paths using linedraw.

Soon I plan to build a physical robot, having this program stream angle targets to an Arduino.

To convert images into drawings, use

python3 draw.py --image {image path}