The solution: The Staubli Unimation Puma Enhancement Retrofit (or S.U.P.E.R. for short). We are using a Staubli Puma 562 robot arm and interfacing it using a number of software pieces written in C++, Perl, and VAL II. The idea is for a user to be able to use a custom "client" application (downloadable) to manipulate the arm and create artwork on said canvas. The user will be able to view their art real time on a "Virtual" canvas on the application, and the real-world canvas on a "Web-Cam" or "Live-Cam".