Basic inverse kinematics code rewritten for processing from Keith Peters of bit-101. The idea is to replicate the motion of your shoulder, upper arm, elbow, lower arm, and hand in two dimensions. The angular value of the "shoulder" and "elbow" will be written to corresponding servo motors that are being controlled by Arduino.
<A href="http://idblab.blogspot.com/2008/11/robotic-arm-drawing-machine.html">Video of the arm working</A>
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