Move robotic arm in circle with given specifications


Hello, in my attached robotic arm sketchy file, I wanted to be able to move the arm such as to draw a small circle given the limits of the arm movements. Can you tell me how I can go about doing that? Bascially the small circle grouped with the vertical arm is the “pen”. I wanted to move that “pen” around a small circle, and in doing so, the arms will adjust to be able to draw a small circle. Can you help me with this? Thanks.test13.skp (120.9 KB)