Ahhh, ya got me on that one Henrik! You are absolutely correct. It looks like it's back to the math. I think it's going to have to be based on the Denavit Hartenberg Representation. Crazy math, I must say. I'm actually chatting on another forum with a guy from Carnegie Mellon University, National Robotics Engineering Center. He told me one of his co-workers built a six axis arm and worked out the kinematics for it too. Oh boy, I hope I can garner some info from him! In the mean time, if you want to tinker with it, or have any thoughts on it, it would be a huge help. I hope to have something very soon, as I think this project would be beneficial to so many!

Thanks Henrik,

Keep me posted, and I will do the same.

Chris