Figure 6.

Accuracy test of the robotic drawing machine. Movements between seven locations were commanded 200 times in random order. A dark pen marked the target locations, while an offset lighter colored pen traced the movement trajectory. 3 cm × 3 cm resolution targets could be reached within 4 second and a 1 cm × 1 cm target around 10 second (not shown). A photograph of Malevich's “Black Square” painting can be seen projected on the gallery wall.