[Bongle]

A pure software solution would be to use a PID loop and a potentiometer.

The WindRiver code includes some very robust PID classes (see class PIDController in PIDController.h/cpp). I imagine the labview setup includes them too, but we're not a labview team so I don't know for sure. You just need to put a potentiometer on the arm joint, then use a PID loop to hit your desired arm positions. The nature of a PID loop will ensure that appropriate amounts of power are used to maintain your arm's position. Properly tuned, it will be faster, more accurate, more reliable, and have less oscillations than a human controlling.