The aim of a project was to design and create a software for IRp-6 robot able to perform the following tasks: analysis of an input image to create contour image and control of a robot arm to draw previously created image. The system detects a sheet of paper with a drawing, determines its position and contours of a drawing in base coordinate system of a robot and draws contour image on a blank sheet of paper. System consists of two modules. A vision module, created using DisCODe framework and OpenCV library, is responsible for shapes and contours detection. Second part of a system is an application to control a robot, created using IRPOS interface and ROS/OROCOS system.