How do I create a 'grabbable' mechanical arm?

I need to create a 3 joint mechanical arm which can be grabbed and manipulated from the end. I’m basically making an arm with a monitor on the end which you can move around.
I’m looking to essentially make an interactive IK join chain.
What’s the best way of going about this?

Kinda reluctant to go the unreal constraint way as advised on another site, seems quite prone to errors and snapping motion.
I just need some info on the arm itself, I can sort out the actually interaction method on my own.

Thanks for any help.

Control Rig?
It is essentially a IK joint with a end effector