Robot arm Portrait Drawing

Version 1.0.1 (619 KB) by Yushuo
We have a picture or drawing and we want draw it with robot arm, it will export a CSV file contain strokes (X,Y,Z,Yaw,pitch,roll)


Updated 7 Feb 2023

From GitHub

View License on GitHub

You can watch the result at

Required Products

  • MATLAB R2022a or later
  • Image Processing Toolbox
  • Computer Vision System Toolbox
  • Statistics and Machine Learning Toolbox
  • Robotics System Toolbox

%First download the folder, put the image we want process inside there, then create a test.csv file (by create test.txt first then change test.txt to test.csv), then click open calculateFinalUpload.m then we enter the origion (by go to the center of the paper then write down the x and y value) and ScaleValue and LiftPenHeight we want, then it ask us to ask us to select a file, we change file type to ALL FILES and select a image located within the same folder of the MATLAB program, then the output will go to test.csv

For Fanuc robot: then open HandlingPro, right click on Targets, "import point data", select the csv we have then right click "Target Groups", click "add target group", select the one we created then right click "edit target group" then we import all targets, in "Motion Line Data", deselect both approach and retreat, then click generate TP file, then export the TP to our drive then load to the robot arm.

Inspired by: Using Targets in Roboguide to Visualize Path Planning of a FANUC Robot Parts code from: Tohru Kikawada (2022). Portrait Drawing using Computer Vision and Robot Manipulator (, MATLAB Central File Exchange. Retrieved June 20, 2022.

you can see the steps at

Cite As

Yushuo (2023). Robot arm Portrait Drawing (, GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2022a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.