Hi everybody!
First of all I want to congratulate you for this project, it´s a really cool arm, the movements are very smooth.
I´m doing something like that for my graduate project, is an aluminum arm and I'm trying to make the kinematic control. I have simulated the movement of all axes with 5 order polynomics, but I have not yet tested physically.
Can you share your code? it´s really interesting how the arm work.
Thanks!