I built a robotic pen plotter with vision control, inspired by my new job. The process involved using stepper motors, 3D printing components, and troubleshooting PID controllers. I experimented with different motors and designs to get precise control and smooth movements. One of the challenges was stabilizing the arm to prevent wobbling. I focused on simplifying the control system by using open-loop interfaces rather than the complex PID controllers. The final touch was creating a spring-mounted pen attachment to ensure even contact with the drawing surface. Now, with the hardware complete, it’s time to tackle the kinematics and software to enable the plotter to draw accurately.
https://github.com/Robertleoj/pen_plotter_robot/blob/main/story.md