[PowerfulKitty]

You could use a VersaPlanetary gearbox, probably with a 100:1 reduction (as high as they go) and a BAG motor. Then you cold use limit switches at the top and bottom of the movement so that the arm hits the limit switch right where you need to stop. I'm not a programmer but from what I understand this is easier to program and set up than using encoders for a rookie team. Pneumatics could be an option, but if this is all you would use it for personally I would not want do have to deal with all that extra stuff just for one arm.