Programming our Arm

[brennerator]

Our arm is controlled by a motor with a sprocket at the base of a long beam. Obviously there is much torque on this system, and when the motor moves slightly, the arm jerks a lot. Understandable. How can we make the arm motion more fluid persay--if we just twitch the joystick right now the arm makes a wide movement.

Second: If the motor stops the arm immedietly jerks back down. Suppose we wanted to keep the arm in a set position--how would we do that? So if we let go of the joystick, the arm would stay in the same position that it was in.