Research and implementation of writing function of binocular vision manipulator

In this paper, a kind of writing function robot of 4 DOF binocular vision manipulator GRB3044 is set up with flexible algorithm that can allow a common robot to write at high accuracy. The mathematical model of writing function robot is built based on the forward and inverse kinematics, and then the methods of determining workspace and the best connected writing region in workspace are given during which maximal area method, horizontal traverse and longitudinal traverse are adopted. Geometry algorithm is proposed to compensate the errors caused by manipulator writing on the basis of error analysis, which improves the position accuracy of the manipulator by 66.7% in horizontal direction and 51.5 times in vertical direction.