Correction for arm

[skyfw]

I decided to take on a task, now that I have a bunch of free time, and not a lot of robotics to do. Since we don't have the robot, I've been doing Misc programming stuff on older robots, and thinking up useful programs to use. I've now decided to write a correction into our arm from last year, because when we drove it at parent teacher Conferences, the new kids on the team nearly destroyed the arm due to it's tendency to move quickly and have a high angular momentum. So I'm wondering exactly how one would accomplish this in the code. I know in my head, how to do it mathmatically, we did some problems like this in physics. I'm guessing some kinda stuff with POT's and some nifty calculus, but I'm not sure how to put it all together, Some concept help on this would be appreciated, I'll look for a good pic of us and our arms, so you can get an idea..

Hopefully this link works Click here for the Robot Pic
If the pic doesn't show up, tell me, and I'll beat Geocities over the head, and then upload it to my PWS, and post a link to that.

PS...It was very hard to find a picture of the robots arms, close up and with us not doing bad, Last year bad..This year good....
Thanks
~Alec