This Proposed System presents an approach to design rapid and fluid movements of a universal robot to perform robot writing mimicking the doctor prescription writing when signing and the trajectory. Reading a doctor’s handwritten prescription is a challenge that most patients and some pharmacists face; an issue that, in some cases, lead to negative consequences due to wrong deciphering of the prescription. Part of the reason why doctor’s prescriptions are so difficult to decipher is that doctors make use of Latin abbreviations and medical terminology that most people don’t understand. 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. Finally, recommendations of robot motion improvement are given.