The two-axis robotic drawing arm is designed to interpret G-code commands to produce user-selected drawings within seconds. A graphical user interface (GUI) allows users to input custom designs, which the robotic arm then will stay within the bounds of a standard 8.5 x 11” paper. Drawings that exceed the allowable boundary (+/- .25 inches) are automatically rejected. The system includes an audible buzzer that notifies when a drawing is complete, as well as an emergency stop button that can be pressed at any time to immediately stop the drawing. The robotic arm is controlled by an ESP32-Wroom microcontroller, which interprets the G-code instructions using the Arduino programming language to execute movement commands. The arm’s motion is enabled by two stepper driver motors and two servo motors, working together to precisely control the drawing mechanism. One of the key milestones in the project was successfully getting the motors to move. This was a challenge that initially was difficult but became a breakthrough moment that accelerated the rest of the development. Another important accomplishment was the design of the robotic arm itself, which was achieved using 3D printing. Looking ahead, one area for improvement is pen pressure control. Enhancing this aspect would lead to better line quality and more consistent drawing results.