Bones Following a Path

Hey there
I’m new to blender and have a made a robot arm to learn some basic skills.
The arm looks nice (for a newbie) but i wanna make it move a long a path.
The plan is to let it pick up a ball - take it up and drop it

Now i need to get arm straight up.
Think the best way to do that is using a path and connect the bones to it
Can somebody point me in the right direction please



arm.blend (296 KB)