[ajlapp]

Thanks for the answers!

We typically use potentiometers for feedback. Any modeling recommendations for a potentiometer? It seems fairly straightforward to me.

Can you test for equivalent motor command? I.e. I could put the actual robot arm into a know position, say parallel with the ground.....then apply a known PWM to it's motor until it is held in place and not falling. Would this value then be equal to the equivalent motor command to simulate gravity??