This arm is a project for an engineering class at Swarthmore College.
My lab partner Katherine and I (Ames) improved this arm (It was from a previous project) and wrote controlling software for it. We used Processing to write a friendly GUI that allows the user to either draw with the mouse, or import SVG path data from a file. The software will then trace the paths and send the angles to the servos of the robotic arm.
This is a time-lapse video of the arm drawing the Swarthmore College logo. The actual drawing took a little over half an hour to complete. I used CHDK (alternate firmware for canon cameras) to take the time lapse.
The project wiki: wikis.swarthmore.edu/ENGR005_2008/index.php/Robotic_Arm_2.0
Swarthmore Engineering: engin.swarthmore.edu
Actual Swarthmore logo (bitmap only): swarthmore.edu/x21183.xml