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3D printed end effector & epson manipulator

As part of my undergraduate robotics class, my team and I utilized an EPSON serial manipulator to create a charcoal sketching robot that converted any input image to a path for the manipulator and output a black and white charcoal sketch. An example input image and output sketch are shown below:

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CHARCOAL SKETCHING ROBOT END EFFECTOR

CHARCOAL SKETCHING ROBOT END EFFECTOR