diff --git a/content/appendix_specifications.tex b/content/appendix_specifications.tex
index 1535ed4..0c820bd 100644
--- a/content/appendix_specifications.tex
+++ b/content/appendix_specifications.tex
@@ -22,3 +22,9 @@
             \item When the system changes from writing to wiping or vice-versa, the SCARA and End-effector should change the tool within ten seconds.
         \end{enumerate}
     \end{specification}
+
+    \begin{table}
+        \caption{}
+        \label{tab:compare}
+        \includegraphics[width=0.8\linewidth]{graphics/compare_table.pdf}
+    \end{table}
diff --git a/graphics/compare_table.tex b/graphics/compare_table.tex
new file mode 100644
index 0000000..36bdada
--- /dev/null
+++ b/graphics/compare_table.tex
@@ -0,0 +1,61 @@
+%&tex
+\documentclass{standalone}
+\usepackage{tikz,array}
+\usepackage{siltex}
+\usetikzlibrary{calc,positioning,patterns,math}
+
+\newcommand{\tikzmark}[1]{\tikz[remember picture,overlay]\coordinate (#1);}
+
+\newcolumntype{V}[1]{@{\hspace{\tabcolsep}}c@{\hspace{\tabcolsep}\tikzmark{#1}}}
+\newcolumntype{T}[1]{@{\hspace{\tabcolsep}}m{0.3cm}@{\hspace{\tabcolsep}\tikzmark{#1}}}
+\newcommand{\xd}{\tikz{\fill[gray] (0,0) circle (3pt);}}
+\newcommand{\od}{\tikz{\draw[gray] (0,0) circle (3pt);}}
+
+
+\begin{document}
+\begin{tikzpicture}[remember picture]
+    \def\th{3.4};
+    \def\ct(#1,#2,#3){%
+        \draw (mytable.north-|#1) --++ (60:\th);
+        \node[rotate=60,anchor=west] at ($(mytable.north-|#1)!0.5!(mytable.north-|#2)$) {#3};
+    }
+    \node[inner xsep=-\pgflinewidth,inner ysep=-\pgflinewidth, anchor=north west] at (0,0) (mytable){%
+        \begin{tabular}{|V{a}| T{b}| T{c}| T{d}| T{e}| T{f}| T{g}| T{h}| T{i}| T{j}| T{k}|}
+            \hline
+            %  & Small rectangle & Perimiter & Cable bot Speed & Tripple Chars & Tool Change & Repeatability & Linearity & Writing & Wiping \\ \hline
+            1  &   &\xd&   &   &   &   &\xd&\xd&   &   \\ \hline
+            2  &   &\xd&   &   &   &   &\xd&\xd&   &   \\ \hline
+            3  &\xd&   &   &\xd&   &\xd&\xd&\xd&   &   \\ \hline
+            4  &   &   &   &\xd&   &\xd&   &\xd&   &   \\ \hline
+            5  &   &   &   &   &\od&   &   &\od&\od&   \\ \hline
+            6  &   &\xd&   &   &   &   &   &\xd&   &   \\ \hline
+            7  &\xd&   &\xd&   &   &   &   &\xd&   &   \\ \hline
+            8  &   &   &   &   &   &   &   &   &   &\xd\\ \hline
+            9  &   &   &\xd&   &   &\xd&   &   &   &   \\ \hline
+            10 &   &   &   &   &   &   &   &   &\xd&   \\ \hline
+            11 &   &\xd&   &   &   &\xd&   &\xd&\xd&   \\ \hline
+            12 &\od&\od&\od&\od&\od&\od&\od&\xd&\xd&   \\ \hline
+            13 &\xd&   &   &\xd&   &   &   &\xd&   &   \\ \hline
+            14 &\xd&   &\xd&\xd&   &   &   &\xd&   &   \\ \hline
+            15 &   &   &\xd&   &   &   &   &\xd&   &   \\ \hline
+            16 &   &   &\xd&   &   &   &   &\xd&   &   \\ \hline
+            17 &   &   &   &   &\xd&   &   &   &   &   \\ \hline
+        \end{tabular}
+        };
+        \draw (mytable.north east) --++ (60:\th);
+        \draw (mytable.north west) --++ (60:\th);
+        \draw (mytable.north east) ++ (60:\th) --([shift={(60:\th)}]mytable.north west);
+
+        \ct(mytable.north west,a,System Specification);
+        \ct(a,b,Small rectangle);
+        \ct(b,c,Perimiter);
+        \ct(c,d,Cable bot speed);
+        \ct(d,e,Triple Chars);
+        \ct(e,f,Tool Change);
+        \ct(f,g,Repeatability);
+        \ct(g,h,Linearity);
+        \ct(h,i,Writing);
+        \ct(i,j,Wiping);
+        \ct(j,k,Complexity);
+\end{tikzpicture}
+\end{document}