Matt DesLauriers published a two-part blog post, Pen Plotter Art & Algorithms exploring his JavaScript workflow with AxiDraw and generative art.

Unlike a typical printer, a plotter produces prints with a strangely human quality: occasional imperfections arise as the pen catches an edge or momentarily dries up, and the quality of the ink has the subtle texture and emboss that you normally only see in an original drawing.

He has also posted his source code on github for the articles.

Part 1 covers getting started and explores Delaunay triangulation. Part 2 delves deeper into developing algorithms.