Gas shock counterweight: calculations?

[Manoel]

Electrical engineer who's a mechanical diletant wants help.

For the teams that have used counterweights in their arms, what considerations were made in the analysis? Starting with a free body diagram is probably a smart step, but what follows? Any guidance is appreciated!

[JamesCH95]

Sum moments about the joint in question.

Figure out how much of that moment you want to counteract.

Do math to figure how much force and at what angle(s) you want to mount the gas shock(s) at and what travel they will need.