Although a motor has been found with encoder resolution satisfying the specifications, concerns about backlash may revert the manipulator to smart servos, but geared with timing belts/pulleys. Timing belts/pulleys allow effectively no slippage. Accordantly, the differential drive may revert to two separate joints.

Above is a a seven servo linkage used for testing the spherical wrist's communication bus. Since the servos daisy chain, the seven servos can test a single PWM data line.

A MATLAB function exported the manipulator's inverse kinematics as C code, which is pending verification.