Using..

This project uses some existing code and hardware:

UMI-RTX

The UMI-RTX is an industrial robot with six degrees of freedom. It is able to grab a marker (with it's gripper) and draw on a piece of paper.

Simulator

Together with te UMI-RTX came a simulator, used for testing the code, and moving the actual robot.

Plotter Code

A year before (June 2005), two students build a working plotter, using the robot to draw images based on graphical input. We adapted their code, and fixed some problems concerning the switching of markers. Our interpretation code (ColourSpace.java) uses their graphics-to-jointmovements code, and their GUI to display the generated images. Check the documents section for the code.

Markers

And ofcourse, whe used some coloured markers (black, red, orange, yellow, green, blue and purple), paper et cetera, which were already available.

and coffee..

..and other chemicals.