Robot Arm

Refer to this website on how to derive the equations for controlling the robot arm.

https://www.alanzucconi.com/2018/05/02/ik-2d-1/

There are still practical problem that need to be overcome. For example, the servo motors used in the joint actuator have a limited range of movement. After gearing in order to increase the torque, the range is further reduced. So we must select the best range of movement of the arm that is useful to us.

During assembling, there's also some steps in involved so that the servo motors are mounted correctly.