[Joe Johnson]

I have to get smart on this because I fear that my info may be out of date, but from what I currently understand, the best controllers put a velocity control loop at the lowest level with a supervisory higher level control that is doing the path planning, limiting accels/decels, ...

Just today I asked a true roboticist that I work with (I'm looking at you Shamlian.net) for a "robot arm controls for dummies" sort of a book. He promised to give it some thought and get back to me next week.

Stay tuned.

Joe J.