[DinerKid]

The drive-shaft to the arm is monitored by a pot, and we are using this data to bring the arm to the desired position. however, with the slop in the worm-gear box and through the attachment points between the actual arm and the drive-shaft.
The motor is set to brake mode.

I am partially looking for solutions to our current design as well as ways to design future arms from the beginning. To present the extreme end of this, I was watching chronicle today (maybe a repeat) and they showed the da vinci medical robot. It has massively long arms with absolutely zero slop in them. Clearly this is a high budget extremely precise machine, but what are the baseline ideas they they are working by in their designs to make this possible?

~DK