This was my final project in my robotics class. I modified a HiWonder Xarm 1s claw arm robot into a 2 Degree-of-Freedom SCARA robot. I 3D printed a custom marker holder and used inverse kinematics to draw simple shapes on a piece of paper. The shapes lack fidelity due to the tip of the marker flexing between the gripper and the surface, but the path planning is driven entirely by inverse kinematics. You can see more details on calculations and testing in this presentation. Enjoy!