to the land of collective knowledge:

we are working on controlling a 6-axis industrial robot arm (puma 560) with pd/arduino(mega). last month i was attempting to write my own arduino code and successfully moved one of the servo motors with a number box. a couple questions:

1. has anybody controlled a multi-axis robot arm with pd/arduino before?

tips? 2) onyx mentioned at the pdcon to just use firmata on the arduino and be done with it. will this suffice?

my arduino knowledge is still quite limited so before i throw too much time behind pduino/firmata stuff i just want to make sure it will be worthwhile, save time, etc

also we built our own controller with sabertooth/kangaroo combo with arduino as the serial interface. the servo motor encoders seem to be producing quite the noise. what is the advice of filtering this noise? in hardware (arduino) or software(pd)?

thanks!

m