[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"detail-sidebar-cat-0-en-105":3,"doc-seo-157711-105":59,"doc-detail-157711-en":130},{"code":4,"msg":5,"data":6},0,"success",[7,13,18,23,28,33,38,43,48,51,55],{"id":8,"doc_module":4,"doc_module_name":9,"category_name":10,"show_sort_weight":11,"slug":12},1,"Document","Story & Novel",90,"story-novel",{"id":14,"doc_module":4,"doc_module_name":9,"category_name":15,"show_sort_weight":16,"slug":17},2,"Literature",80,"literature",{"id":19,"doc_module":4,"doc_module_name":9,"category_name":20,"show_sort_weight":21,"slug":22},4,"Exam",70,"exam",{"id":24,"doc_module":4,"doc_module_name":9,"category_name":25,"show_sort_weight":26,"slug":27},5,"Comic",60,"comic",{"id":29,"doc_module":4,"doc_module_name":9,"category_name":30,"show_sort_weight":31,"slug":32},6,"Technology",50,"technology",{"id":34,"doc_module":4,"doc_module_name":9,"category_name":35,"show_sort_weight":36,"slug":37},7,"Healthcare",40,"healthcare",{"id":39,"doc_module":4,"doc_module_name":9,"category_name":40,"show_sort_weight":41,"slug":42},8,"Research & Report",30,"research-report",{"id":44,"doc_module":4,"doc_module_name":9,"category_name":45,"show_sort_weight":46,"slug":47},9,"Religion & Spirituality",20,"religion-spirituality",{"id":46,"doc_module":4,"doc_module_name":9,"category_name":49,"show_sort_weight":46,"slug":50},"World Cup","world-cup",{"id":52,"doc_module":4,"doc_module_name":9,"category_name":53,"show_sort_weight":52,"slug":54},10,"Lifestyle","lifestyle",{"id":56,"doc_module":4,"doc_module_name":9,"category_name":57,"show_sort_weight":24,"slug":58},19,"General","general",{"code":4,"msg":60,"data":61},"ok",{"site_id":62,"language":63,"slug":64,"title":65,"keywords":66,"description":67,"schema_data":68,"social_meta":123,"head_meta":125,"extra_data":127,"updated_unix":129},105,"en","picarso-programmable-interface-controller-with-autonomous-robotic-spraying-operation","PICARSO - Programmable Interface Controller With Autonomous Robotic Spraying Operation","","PICARSO is a cable-driven robotic painting system equipped with image processing capabilities for autonomous robotic graffiti. The system paints both raster (bitmap pixel-by-pixel) and vector (lines and curves) images of arbitrary size on vertical surfaces. The paper presents the overall design, including mechanical and electrical components, cable-driven kinematics, imaging pipeline, and experimental performance results that demonstrate its accuracy and suitability for scalable automated spraying.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":40,"@type":76,"position":81},"https://docshare.wps.com/document/research-report/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/picarso-programmable-interface-controller-with-autonomous-robotic-spraying-operation/157711/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/picarso-programmable-interface-controller-with-autonomous-robotic-spraying-operation/157711.png","ImageObject",300,407,{"name":92,"@type":93},"Bill Black","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-17","2026-08-29",true,{"@type":102,"interactionType":103,"userInteractionCount":39},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What does the PICARSO system do and where does it paint?","Question",{"text":112,"@type":113},"PICARSO autonomously paints input images as robotic graffiti on vertical surfaces. It supports both monochromatic raster and vector image modes.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"How does PICARSO represent images for robotic spraying?",{"text":117,"@type":113},"It takes an input image and renders it either as a raster bitmap of pixels or as a vector representation using lines and curves for continuous strokes.",{"name":119,"@type":110,"acceptedAnswer":120},"What mechanical configuration distinguishes PICARSO from earlier cable-driven painting robots?",{"text":121,"@type":113},"PICARSO uses a three-cable-driven parallel planar manipulator with an X-configuration. This choice improves end-effector motion characteristics and enables scalable painting across different image sizes.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},157711,1787987946,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":39,"category_name":40,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":39,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":39,"language":139,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":140,"faqs":141,"seo_title":142,"seo_description":67,"update_tm":129,"read_time":46,"preview_page_count":4},24189269381491,"https://ap-avatar.wpscdn.com/avatar/160000cf11732dd8392?x-image-process=image/resize,m_fixed,w_180,h_180&k=1788146458752108895","PICARSO  \nProgrammable Interface Controller With Autonomous Robotic Spraying Operation  \nIan Hooi, Samuel Oosterholt, Sven Paschburg, Joyce Phan, Neil Yeoh, Ben Cazzolato  \nSchool of Mechanical Engineering  \nThe University of Adelaide  \nSouth Australia 5005  \nAustralia  \n{ian.hooi, samuel.oosterholt, sven.paschburg, joyce.phan, [neil.yeoh}@student.adelaide.edu.au](neil.yeoh}@student.adelaide.edu.au)  \n[benjamin.cazzolato@adelaide.edu.au](benjamin.cazzolato@adelaide.edu.au)  \nAbstract  \nThe Programmable Interface Controller with Autonomous Robotic Spraying Operation (PICARSO) system is a cable-driven painting system, with image processing capabilities. It is used as a robotic graffiti artist, with the capacity to paint both raster and vector images of any size. This paper describes the design of the system, its mechanical and electrical components, the kinematics of the cable-driven system, its imaging processing capabilities as well as results illustrating its performance.  \n1 Introduction  \nAutonomous painting systems can offer advantages over their human counterparts and may include improvements to painting speed, accuracy, reproducibility, the ability to paint in dangerous environments or without disruptions.  \nSeveral autonomous painting systems currently exist. One such system is HEKTOR, developed by Lehni and Franke [2002] . HEKTOR is a portable, two motor cable-driven painting system that is capable of painting vector images using a spray can. Another system is VIKTOR [Lehni & Rich, 2008], a four motor cable-driven robotic system, which is capable of producing vectorimages using chalk. These painting robots are sophisticated in their overall design and are remarkably accurate in their output.  \nThe Programmable Interface Controller with Autonomous Robotic Spraying Operation (PICARSO) system is designed as a three cable-driven parallel planar manipulator capable of processing images. The system was scalable to allow the painting of any size image on a vertical surface. PICARSO takes an input image and paintsit onto a vertical surface in one of two modes: a monochromatic raster mode (a bitmap of pixels); and, vector images using lines and curves. Using three cables allowed for PICARSO to benefit from the increased bandwidth typically afforded using four motors, as well asthe lower cost associated with less actuators. PICARSO controlled the two upper motors by specifying position and the lower motor by controlling the torque.  \nThis paper details the design of PICARSO and the results produced. In Section 2, the design of the mechanical system and the software are discussed. In Section 3, the results from tests are presented. Finally, the  \nconclusions and future developments are discussed in Section 4.  \n1.1 Previous Robotic Painting Systems  \nIn the design development of PICARSO, existing painting robots were investigated to identify and understand their successes and failures.  \nHEKTOR  \nHEKTOR was the brainchild of Jurg Lehni and Uli Franke [2002], who designed a cable-driven painting mechanism which used a dual stepper motor, cable-rigged configuration to drive a mechanically actuated spray can. HEKTOR processed a monochromatic image by determining the vector pathways which drove the spray can to the desired positions. The final HEKTOR drive system employed two stepper motors positioned in the upper left and right corners ofthe workspace.  \nCommands to the painting system were written using Scriptographer, a scripting plugin created by Lehni, to take the vector image files from Adobe Illustrator and convert them into instructions for the motors. Overall, this method allowed for sufficient control and image processing capabilities to successfully produce both raster and vector images with a high level of accuracy. An example of a painted image can be seen in Figure 1, which gives evidence of Hektor’s painting ability.  \nFigure 1: An output produced by the HEKTOR painting system. The spray can end-effector can clearly be","cbCaidK4G5DUFZuT","https://ap.wps.com/l/cbCaidK4G5DUFZuT","pdf",578963,"English","# Introduction\n## Previous Robotic Painting Systems\n# System Overview\n# Mechanical and Electrical Design\n# Imaging Processing Capabilities\n# Experimental Results\n# Conclusions and Future Developments","[{\"question\":\"What does the PICARSO system do and where does it paint?\",\"answer\":\"PICARSO autonomously paints input images as robotic graffiti on vertical surfaces. It supports both monochromatic raster and vector image modes.\"},{\"question\":\"How does PICARSO represent images for robotic spraying?\",\"answer\":\"It takes an input image and renders it either as a raster bitmap of pixels or as a vector representation using lines and curves for continuous strokes.\"},{\"question\":\"What mechanical configuration distinguishes PICARSO from earlier cable-driven painting robots?\",\"answer\":\"PICARSO uses a three-cable-driven parallel planar manipulator with an X-configuration. This choice improves end-effector motion characteristics and enables scalable painting across different image sizes.\"}]","PICARSO - Programmable Interface Controller With Autonomous Robotic Spraying Operation | PDF"]