Universal robot employment to mimic human writing

The paper presents an approach to design rapid and fluid movements of an universal robot to perform robot writing mimicking both the human kinematics when signing and the trajectory. To perform the task, on-line human signing standards are created first. Robot writing task is performed using these standards after that and robot signatures are acquired as a result. Next, both human and robot signatures are analyzed and compared, and the degree of signatures correlation is defined. Finally, recommendations of robot motion improvement are given.