Robotic graphing pen
Robotic graphing pen

Robotic graphing pen

This robotic machine is an interesing graphing pen that is driven with three stepper motors. It can draw various shapes on the piece of paper. First two motors control the horizontal position of a pen, while the thirds motor is used for vertical positioning of the pen. All the motion is controlled via Arduino Uno R3. Drawing is represented as a set of matematically describable functions (e.g. triangles, circles, rectangles etc.) that are converted into pulses required for stepper motor control, while controling the position and velocity of motors and the pen.
Bosnia And Herzegovina


Robotic graphing pen

Jasmin Velagic, Ibrahim Alispahic

Jasmin Velagić is a professor of robotics and mechatronics at the Faculty of Electrical Engineering, University of Sarajevo and head of the Department of Automatic Control and Electronics. He received a MSc degree from the Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia in 1999 and a Ph.D. degree from the Faculty of Electrical Engineering, University of Sarajevo, in 2005. His research is mainly focuses on intelligent control, mobile robotics, industrial automation, adaptive and robust control. He has published over 100 papers in journals, book chapters and conference proceedings. Over the last past years my research group (LARAS) has developed several mobile robot platforms and multirotor systems as well as a series of inovative techniques for the robot localization, path planning and 3D modelling of outdoor environments.


Stand B28 (pav. 9) - University of Sarajevo/Department of Automatic Control and Electronics

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