Beware of R16 your robot design may be too big.

[Ian Curtis]

Originally Posted by Schnabel

Here is something to look at and think about. Even though 80" can get very small very fast, that is a lot of space. Also, the further you go out, the hight center of gravity you will have, thus the ability to be pushed over easier.

What I'm gathering from Paul's post is that it is not the grabbing the ball that's the hard part. It's designing the arm to move the grabbed ball up in the air without extending out of your personal cylinder.

In case that doesn't make sense, stand in front of wall and extend your so that it's parallel to the floor, and move up to the wall. Then, move your arm so at a 45 degree angle down, and then to 45 degrees up. While those 45 degree positions may very well be in the cylinder, when the arm is parallel to the floor, it is not. That's where the design gets tricky, and the arm gets complicated to stay within that cylinder.