A path generation and control framework for 6-DOF robot in precision writing and drawing

Abstract

Robots are becoming increasingly integrated into everyday life, not only in industrial applications but also in creative, educational, and entertainment contexts. With recent advancements, collaborative robots are now lighter, safer, and easier to deploy alongside humans, making them well-suited for tasks that require precision and adaptability. This paper presents an integrated control framework for the ABB GoFa 6-DOF collaborative robot, enabling it to autonomously perform precise writing and drawing tasks. The system leverages CAD-based path design in SolidWorks and ABB RobotStudio’s AutoPath tool to generate motion trajectories from a library of modeled characters, symbols, and figures. A socket-based communication interface connects the robot controller with a user-friendly human-machine interface (HMI), allowing users to input custom text or select predefined figures in real time. The framework has been implemented and validated on the physical ABB GoFa robot, demonstrating high accuracy, repeatability, and usability for applications such as public exhibitions and educational settings.