Industrial robot in fine art: can an industrial robot draw a binary image?

This research paper investigates, through a case study, which should be the basic requirements such as an industrial robot to make drawings based on data provided from image processing. An algorithm for image processing and data sorting to be further used by the robot for lines drawing is presented in this paper. Using LabVIEW, image is converted into a binary format. Researches from this paper indicate that, due to the specific requirements needed to program linear and circular robot motions, as well as due to the specific procedure to define robot tool centre point (TCP), information embedded in the binary format necessitate transformation into points with relative coordinates to a reference frame of the drawing plane such as a robot to be able to make drawings. A conversion approach from the binary matrix to the robot drawing matrix is proposed in the paper, together with the necessary settings of the robot motions.