Research of robot brush calligraphy mostly adopts the method of virtual drawing. But this method can not achieve the concrete realization of brush calligraphy

and the force of feedback is too ideal. To solve this problem

a brush writing system which is based on force feedback bilateral control structure is designed. In the system

users can realize brush writing by using master and slave Geomagic Touch force interaction equipments to write on the writing platform equipped with pressure sensor. At the same time

a modular joint control method of fast task scheduling based on multi-degree of freedom robot arm is adopted to control the motion of Geomagic Touch equipment

which improves the efficiency of the whole system. The experimental results show that the brush writing system is stable in control and fast in response

and has good following features. The writing results of the master and the slave are similar in chirography and structure. It basically realizes the target of writing with brush by bilateral control.