Apparatus and methods for computerized end effector manipulation

Abstract

Apparatus and method for a painting machine are provided. The painting machine may include an end effector controlled by custom software. The custom control software may be capable of coordinated n-axis manipulation of an end. Illustrative end effectors may include an inkjet head, brush, air brush or any suitable tool for applying ink, paint, color and/or texture to a surface. For example an end effector may utilize oil-based ink or ultraviolet-cured ink. Illustrative surfaces may include canvas, paper, brick, glass etc. The custom control software may control manipulation of the end effector based on a variety of electronic inputs. The custom software may manipulate different end effectors in different ways depending on the input data, type of ink/paint being used, type of surface receiving the ink/paint or any other variable.

What is claimed is: 
     
         1 . A system for painting a mark along a non-linear pathway, the system comprising:
 an end effector for printing onto a surface; and   software that, when run on a processor:
 captures electronic data comprising the mark and the non-linear pathway; 
 configures the end effector to paint the mark by following the non-linear pathway; 
   
       wherein the mark comprises a creator designed repeating pattern that provides a visual effect of a brush stroke. 
     
     
         2 . The system of  claim 1 , wherein the end effector comprises an inkjet head. 
     
     
         3 . The system of  claim 2 , further comprising ink that is comprised of particles that are:
 small enough to pass through one or more nozzles in the inkjet head onto the surface when the one or more nozzles are in an open state; and   large enough to be retained within the inkjet head when the one or more nozzles are in a closed state;   
       wherein the end effector is configured to print by depositing the ink onto the surface. 
     
     
         4 . The system of  claim 3 , wherein the ink comprises a white ink. 
     
     
         5 . The system of  claim 1 , wherein:
 the non-linear pathway crosses itself and the mark is a multi-layered mark; and   the software configures the end effector to print the multi-layered mark on a stationary surface.   
     
     
         6 . The system of  claim 1 , wherein:
 the non-linear pathway passes through a multi-dimensional space; and   the software configures the end effector to move along the non-linear pathway through the multi-dimensional space.   
     
     
         7 . The system of  claim 1 , further comprising one or more collision sensors, wherein the software receives topographical data of a surface from the collision sensors and configures the end effector to:
 print the mark on the surface; and   avoid a collision with the surface.   
     
     
         8 . The system of  claim 1 , further comprising a robotic arm, wherein:
 the end effector is affixed to the robotic arm; and   the software controls movement of the robotic arm.   
     
     
         9 . A system for painting a multi-layer mark on a surface, the system comprising:
 an end effector; and   software that, when run on a processor:
 transforms a creator input into computer executable painting instructions; 
 based on the painting instructions configures the end effector to paint a multi-layer mark on a surface; 
   
       wherein:
 the creator input comprises a plurality of sub-inputs; and 
 the system transforms the creator input into computer executable painting instructions by recording each sub-input as a layer of the multi-layer mark. 
 
     
     
         10 . The system of  claim 9 , wherein the end effector is an output end effector, the system further comprising an input end effector that is manipulatable in a multi-dimensional space by a creator to generate the artistic input. 
     
     
         11 . The system of  claim 9 :
 the end effector comprising one or more sensors that track a position and/or movement of the end effector relative to the surface; and   the software configures the end effector to paint the multi-layered mark onto the surface independent of the position and/or movement of the end effector relative to the surface.   
     
     
         12 . The system of  claim 9 , wherein the software adds a tunable level of noise to the artistic input before painting the multi-layered mark on the surface. 
     
     
         13 . The system of  claim 9 , wherein the computer executable painting instructions comprise:
 a property of the surface;   a property of paint applied by the end effector to the surface; and   a non-linear path of the end effector over the surface, the non-linear path determined based on the property of the surface and the property of the paint.   
     
     
         14 . The system of  claim 9 , further comprising an XYZ gantry that moves the end effector over the surface; 
       wherein, movement of the XYZ gantry is controlled by the software. 
     
     
         15 . A method for painting a mark along a non-linear pathway, the method comprising:
 receiving electronic input data comprising the mark and the non-linear pathway; and   based on the electronic input data, generating:
 paint properties associated with a medium deposited by an end effector on a surface; 
 motion properties for moving the end effector along the non-linear pathway over the surface 
   based on the paint and motion properties, electronically controlling the end effector and painting the mark along the non-linear pathway on the surface;   
       wherein;
 the electronic input data comprises a repeating pattern; and 
 painting the mark comprises painting the repeating pattern along the non-linear path. 
 
     
     
         16 . The method of  claim 15  wherein electronically controlling by the end effector comprises electronically controlling:
 movement of the end effector along the non-linear pathway; and 
 the medium deposited by the end effector on the surface during the movement. 
 
     
     
         17 . The method of  claim 15 , wherein the electronic input data comprises a flat image, the method further comprises:
 segmenting the flat image into layers;   for each layer, generating:
 paint properties associated with the medium deposited by the end effector to paint the layer; and 
 motion properties for moving the end effector over the surface to paint the layer; and 
 based on the paint and motion properties associated with the layer, electronically controlling the end effector and painting the layers on the surface. 
   
       wherein, painting the layers on the surface generates a visual effect that is different from the painting the flat image on the surface. 
     
     
         18 . The method of  claim 15 , further comprising:
 detecting a change to the mark after the mark is painted by the end effector on the surface;   based on the change, generating properties for reproducing the change; and   based on the properties associated with the change, electronically controlling the end effector and painting the change on the surface.   
     
     
         19 . The method of  claim 18  wherein the electronic input data is first electronic input data, the method further comprising:
 using the one or more sensors, capturing second electronic input data corresponding to the change; and 
 generating the properties of the change based on computing differences between the first electronic data and second electronic data. 
 
     
     
         20 . The method of  claim 15  further comprising adding a tunable level of noise to the electronic input data before painting the mark along the non-linear pathway on the surface; wherein, the tunable level of noise generates a visual effect that is different from the painting of the mark without adding the tunable level of noise.