Here is another robotic arm that can teach you a thing or two about technology and programming. The xArm 1S uses a STM32 chip for its main controller. You can program it via a visual programming interface. The xArm 1S can be controlled with a joystick, smartphone app, or mouse.
The base uses suction cups to stay put on your desk. It also has a 25kg torque servo. You can find out more about it here.