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It sounds like what you need is some sort of control loop. The one I am most comfortable with is the PID (Proportional Integral Derivitive) Control loop. This will fight back drive for you (i.e. "keep the arm where it should be without falling").
If that sounds like what you need, either e-mail me for more info, or post here and I'll see about putting a white paper up. In the meantime, I'm sure you can google search for "PID control."
Good Luck!
Stephen
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