I haven't figured out a perfect way to do that, but here's a workable solution using one of my big Noga arms.
Loosen the clamp on the Noga arm, move the camera to any X/Y/Z/pitch/roll/yaw ("6D"), tighten the clamp, and it stays there.



The big gold-colored plate in the middle is just a random piece of sheet steel, tapped in two places so I could screw an Arca plate to it.
So from the ground up, we have a small tripod with ballhead, steel plate Arca-clamped to that, Noga arm magnetically clamped to the steel plate, hot shoe adapter on the end of the Noga arm, with a hotshoe-to-1/4" adapter screwed into the camera.
The above shows a compact camera because that gave a wide-angle macro perspective that I liked.
But the setup is plenty strong enough to hold a bigger camera and lens. (The Noga arms are designed to hold things in machine shops. The weak spot of the system as shown is the magnetic clamp. Augmenting that with a mechanical clamp or two would be simple enough if I needed more strength.)
Here's the setup with a DSLR and a CamRanger Mini plugged into that, so I could control the camera from my cell phone.

Here's the image from the compact camera. This is a 10-frame focus stack, hence my interest in having the camera not move.

--Rik