May 25

Generating GCode using Inkscape

Generating G-code (using Inkscape) for the Keerbot means taking a drawing and translating it so the Keerbot will know where to go on the drawing board (X Y terms) and whether to lift or lower the pen servo (Z axis)

Since Dan introduced me to InkScape that can generate the drawings, and then prepared it with CamBam, I searched for a solution that will eliminate the need for Cambam – and I found it !


Generation of G-Code InkScape and G-Code plugin:


  1. InkScape: (might be already with the G-code plugin in the installation)

  2. GCodetools:



  1. Have a drawing on the InkScapboard.

  2. Select it

  3. Goto: “Extensions-Gcodetools-orientation points”

  4. Select “3 points Mode…” (in “orientation” tab)

  5. Click “Apply” wait… Click “Close”

  6. Goto: “Extensions-Gcodetools-Tools library”

  7. Select “Cylinder” (in “Tools library” tab)

  8. Click “Apply” wait… Click “Close” ( you should get something like that – with big green rectangle)

  9. Goto: “Extensions-Gcodetools-Engraving”

  10. Goto “Options” tab

  11. Fill box “Offset along Z-axis” with the Servo down (drawing ON) position of your KeerBot (Makelangelo)

  12. Goto “Preferences” tab

  13. Fill box “Z-Safe height for G00 move over blank” with the DELTA of Servo up (drawing OFF) position of your KeerBot (Makelangelo)

Servo down value=50
Servo up value=70
“Offset along Z-axis”= 50
“Z-Safe height for G00 move over blank”= 20

* Note: the low position will not be 50 but 49.99943 or something similar.

  1. Fill “File” and “Directory” for your convenience.

  2. Goto “Engraving” tab

  3. Click “Apply” wait… ,Click “OK” on popup window , Click “Close”

  4. You should have your G-Code (.ngc) file ready for use !

G00 Z33.000000

G00 X75.502770 Y66.560391

 G01 Z24.633422 F100.0(Penetrate)

G01 X75.796818 Y66.926998 Z25.000000 F400.000000

G01 X75.502770 Y66.560391 Z24.633422

G01 X75.652235 Y66.746743 Z24.819745

G01 X75.035664 Y65.742398 Z24.000002

G01 X79.443693 Y45.906296 Z24.000002

G01 X79.702830 Y45.303216 Z24.122148

G01 X80.634925 Y45.155557 Z25.000000

G01 X79.702830 Y45.303216 Z24.122148

G01 X79.702830 Y45.303216 Z24.122148

G01 X79.473298 Y45.287327 Z24.000002

G01 X79.500307 Y45.298841 Z24.000002

G01 X78.737489 Y44.973298 Z24.000002

G01 X78.312321 Y44.886261 Z24.000002

G01 X78.193251 Y44.864925 Z24.000002


Enjoy !

May 18

IOIO micro controller plotter

Finally IOIO drawing robot!
Drawing robot based on IOIO micro controller that draws amazing artistic sketches – home made plotter, (and similar concept to KeerBot), see here.

IOIO micro controller drawing robot

IOIO micro controller drawing robot

Few months ago I found a very interesting piece of hardware, a micro controller called “IOIO” which was developed by a very talented engineer named Ytai Ben Tzvi. I even had the chance to join a free session he gave on the design and concept of it. Currently I am running my KeerBot project with Arduino, and it works, draws and can keep doing that forever – so why to bother and move the complete project to IOIO board (which instead of simple C code of Arduino works with Android) ??? (and I need to learn programming in Android too for that)

The thing is the great advantage of IOIO concept over Arduino – the lack of computer. after building a robot that is using an IOIO there is no need for computer in the loop !!! (the android device can do the job) which makes it just right for simple and light weight needs. I think now, after Ytai made it cleat that the IOIO can be used as a motor control hardware, Ill have to learn how to do it and implement it on the future of the KeerBot.

In the meanwhile – have a look at Ytai’s project, its really really nice, and if you are in the bay makers faire – this weekend, say hi for me.

May 11

Self folding robot

So – There’s this HUGE robotics convention, that I dream one day to go to  – ICRAICRA logo (if you have some pocket money to send me there you’re welcomed), It’s a place where all the best robotics scientists are being gathered to replace info and show off.

I saw this amazing folding robot, (Crawling Inchworm Robot) built from one plastic sheet, and they just add one motor and a battery and it moves! it attracted me both because it is a complete new way to manufacture robots (folded from flexible polymer) and the fact that the guy in the video mentioned, that the electro-active polymer (EAP) sheet (means a plastic that you run electricity through it and it moves) is really really cheap ! (1$~)

May 09

Innovative Digital Project Competition – Paris

Now hear a funny story:

few weeks ago while surfing the web, I saw an ad for a contest of innovation,that will take place in Paris, (Futur-en-Seine 2013) and should be a really cool thing to visit.So I wrote 3 lines (really – 3 lines !) and filled the KeerBot site into the right location, and forgot about the whole issue.

Suddenly I got a telephone call today from one of the organizers that said that i made it to the final stage of the contest!  he asked me what I need for a booth and what will I present, etc’. I was completely surprised and happy with that – It can be nice experience, and may expose the project to many people.

even if nothing will get out of it – it is a nice hint that I should return to work on the project, after neglecting it due to some (very happy) family issues.

Futur en Seine – Digital World Festival by Futur_en_Seine

So, there’s a chance for to go to Paris !!! cross fingers for me ! (I need to work on my French, currently zero… 🙂

Apr 10

Robotics applications by IEEE

Two mobile applications by IEEE ( Institute of Electrical and Electronics Engineers) that are great source for info for robotics hobbyists

  • – videos on subjects like wind power, biomedical engineering, and recycling computer and electronic products. New programs, recorded in high definition, are added monthly.
  • Robots for iPad – Robots for iPad is the best, most complete guide to the world of robotics. This fun, highly interactive app lets you explore over 100 real-world robots, with hundreds of animations, photos, videos, and articles.a1