The National Defense intends on deploying robotic arms on Royal Canadian Navy warships to carry out minor tasks like painting logos on the hull of a ship.  This would free up sailors to tend to other duties. A prototype is shown below which is made of 3D printed parts and uses an arduino mega to operate.

To perform tasks this arm needs to demonstrate precise movements using 6 degrees of freedom (DOF). To achieve a specific position and orientation in space it should use inverse kinematics which is the calculation of the angle of joints in a kinematic chain, like a robot arm, to reach the desired 3D coordinates.

Using a smaller 3 DOF arm as a proof of concept (this will be provided), your task is to program the robotic arm and to design an end-effector for the arm. The arm should perform one or many of the following actions: