The experimental set up was the following:
\n_The robot was controlled via Grasshopper, through the use of the KUKA I Krc plug-in (from association for robots in architecture) for Grasshopper and Rhino. Each group did draw a series of parametric lines that would become the tool paths for the robot.
\n_A video simulation with the virtual robot in Grasshopper was performed to understand the behaviour of the machine along
\nthe path and amend eventual errors; the video would allow also the testing of multiple path parameters and robot behavioural options.
\n_The tool mounted on the robot contained 1 fixed LED light and 2 or 4 blinking ones; the blinking was also controlled via
\nGrasshopper and related to the robotic arm path.
\n_A camera was positioned in front of the robot and its exposure tuned to the particular lighting conditions and the length in
\ntime of the tool path, Such configuration allowed capturing the ephemeral lighting traces left by the robotic arm movements.
\nThe robotic behaviour is therefore translated into a 3D robotic light painting<\/p>","protected":false},"author":2,"featured_media":118602,"parent":0,"menu_order":0,"template":"","meta":{"footnotes":""},"portfolio_category":[170,174],"class_list":["post-118601","portfolio","type-portfolio","status-publish","has-post-thumbnail","hentry","portfolio_category-170","portfolio_category-174"],"yoast_head":"\n