[roboticWanderor]

Thanks a lot Kevin Sevcik, that is relly helpfull. what is funy, is that we just learned this stuff in phsiscs class!
Hopefully, an arm like this could be controlled with a phisical model, similar to the controller I built my sophmore year (it won the innovation in control award by the way).
The gearbox that is on there right now is for the extension, as that math was easy enough to figure out.
the upper arm's articulation technically will operate like a 4-bar linkage, but still be moveable (similar to team 60's arm design)