Bob Ross without ROS

Hand it an image, get back a painting. A three-link planar arm turns contours into brush strokes: paths planned in task space to keep the geometry honest, inverse kinematics solved offline at every waypoint so execution stays cheap, brush angle taken from the local tangent of the curve. Written from first principles rather than pulled off the shelf, validated in simulation, then deployed to an ESP32-driven arm that puts real ink on real canvas.