Co-working applications are increasing in robotics due to the need of manipulating high volume of information in real time. This paper presents a methodology to develop a robot-based drawing system that allows the reproduction of an image shown by an operator. It incorporates cameras for real-time image processing, which uses filters, morphological operations and a topological skeleton to obtain the desired features. A system calibration technique is also proposed to calibrate the coordinates of the robot with respect to the image frame before using an inverse kinematics method that controls the robot motion. The speed of the drawing method depends on the network to which the system is connected. The results of the proposed methodology are fully obtained with a NAO robot.