Robotart

King Bhumibol Adulyadej

King Bhumibol Adulyadej was the ninth monarch of Thailand from the Chakri dynasty as Rama IX. His Majesty passed away at the age of 88, 13 October 2016. He is recognized as the father of the Thai nation and had concentrated his time and efforts on the benefits of Thai people. More than four thousand development royal projects have been initiated under his guidance. His Majesty is also admired internationally for his efforts throughout his reign by receiving awards from various organizations and agencies under United Nation. In this artwork, the reference image is the obverse of Thailand five-baht coin. Only black ink is used to paint the artwork. We use round brush size 1 mm. It takes approximately 30 minutes to use a paint brush for this artwork. The total haptic file (position and force data) sizes for recreate artwork are about 407.731 MB. We present haptic human-robot collaboration system based on master-slave delta robot. We first use the bilateral control with motion copying system to record both the interaction force and position responses from artist. We then use the motion replaying system with haptic processing to recreate artwork. The proposed human-robot collaboration system enables robot not only to recreate artworks, but also to improve their performance from the force and position data processing.