Reference for citation: Karimov A. I., Strelnikov M. D., Mazin S. V., Goryunov D. S., Kulagin M. V., Karimov T. I. Dry brush model for robotic painting. Journal of Instrument Engineering. 2024. Vol. 67, N 7. P. 574–585 (in Russian). DOI: 10.17586/0021-3454-2024-67-7-574-585.

Abstract. Robotic painting, which combines advanced image generation algorithms with modern mechatronics, is considered as one of the areas of computer creativity. Results of developing a brush model for a robot artist based on the collaborative robot Jaka Zu 3, are presented. Particular attention is paid to the dry brush effect, a technique in which “airy”, textured strokes are applied with a brush containing a small amount of paint. This technique has not been used in machine painting on purpose before. An experimental setup is described, including a collaborative robot Jaka Zu 3 with a brush, a table, a canvas, a camera, and a lighting system. The concept of integral brushstroke density is introduced, which characterizes the amount of paint remaining on the canvas when a brushstroke is applied with a dry brush. Based on the experimental data, a new mathematical model is proposed that allows one to control the width of brushstrokes and their integral density. The obtained results can be used both in computer imitation of painting and in practical implementations of robot artist designs.

Keywords: robotics, robotic painting, robot artist, dry brush, Jaka Zu 3

Acknowledgement: the work was carried out with the financial support of the Russian Science Foundation, agreement No. 22-79-00171.

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