Robot Brush-Writing System of Chinese Calligraphy Characters

In this paper, robot calligraphy systems is developed to write Chinese brush characters dynamically. The BBOD algorithm of stroke extraction is optimized by adding a rule for merging stroke. the results show that the accuracy of stroke extraction is 95% for the Simple-style font, 92% for Kai-style font and 90% for Yan-style font. A model of calligraphy features is established, which includes not only the spatial structure features of Chinese characters, but also the dynamic writing features of Chinese characters. In the period of trajectory planning, a rule of Chinese brush characters applies to optimize the trajectory of stroke, and there are two steps of motion planning, cubic B-spline algorithm is used to plan the Cartesian path, then S curve algorithm is used to plan the joint space trajectory, in order to control manipulator smoothly and stably. To verify the proposed method, three types of experiments are conducted and the developed systems achieved good results in Chinese brush calligraphy reproducing.