To PaulS,
We don't know exact angles yet but we do know the dimensions of all the parts of the arm, we are using arduinos for every joint and a raspberry pi linux computer to control these arduinos. We essentially want the arm to pick up something small, preferably under 5 lbs, like a small mug or something.
To justone,
I've seen that , but it seems a bit complex for someone that hasn't programmed using arduino before.