Abstract: A programmable printing system for product marking applications is described in which a printing member is carried by an articulated mechanical arm, such as a robot arm. Due to the enhanced maneuverability and reach of the articulated arm, printing can be carried out on surfaces which would not be accessible to conventional types of conveyor-mounted product marking devices. The articulated arm is controlled by a programmable control means which can be reprogrammed as needed in order to print on objects having different sizes, shapes and orientations, or to print at more than one location on the same object. The apparatus finds particular utility in connection with pad transfer printing, including multicolor pad transfer printing, but is also applicable to other printing methods.