Speed is definitely an issue. For drawing an arc, it isn't at all unusual to have a 1000 points, all of which must go through a three step IK calculation for the three axis arm. Good thing I'm not trying to make it catch a ball or anything. I will continue to experiment with the resolution, which is currently set at .1 mm movements per point. That's probably too fine of resolution and a waste of processing time, but its something I can easily play around with later. I found that debugging serial.print comments really bogged things down.