UR5e Robotic Writing System
MATLAB program using RTDE interface to command UR5e industrial robot arm to trace digits and execute mathematical operations. Implemented coordinate frame transformations with consistent positional accuracy.
MATLAB program using RTDE interface to command UR5e industrial robot arm to trace digits and execute mathematical operations. The robot writes individual numbers, moves them around the page, and solves addition, subtraction, and multiplication problems in traditional long-form style. Implemented coordinate frame transformations and motion trajectories with consistent positional accuracy across repeated tasks. The robot moves smoothly like a human hand, lifting the pen between strokes and positioning everything perfectly on the page.
Watch It In Action
Robot Writing Numbers
Watch the UR5e robot write individual digits with smooth, precise movements.
Math Problem Solving
The robot solves a complete multiplication problem, showing all the steps just like you would on paper.
Advanced Calculations
More complex mathematical operations demonstrated by the robotic writing system.
Project Photos
What I Learned
Key Skills
- Robot programming and control
- Motion planning for smooth movement
- Coordinate systems and positioning
- MATLAB programming skills
Challenges
The biggest challenge was making the robot write smoothly like a human. I had to program it to know when to lift the pen, how fast to move, and where to position each part of the math problem. Getting the spacing right was tricky too - the robot needed to know exactly where to put each number so the final answer would line up correctly, just like when you do long division or multiplication by hand.