It's been awhile since I posted here, but things have been very busy. On the robot side, I've added a hewxcrawler to my stable and last week added another robotic arm. This one is the SG5 Robotic Arm from Crustcrawler. It did come with any software to control the arm so I wrote a controller for the stamp that came with it. Now I can control the arm with very simple commands from any serial device. I'm hoping the fols at crustcrawler will add it to their arm but I don't think it's going to happen. Oh well. I am now in the process of adding a CMUcam, IR rangefinder and some flexiforce sensors to the gripper to make the gripper and arm more intelligent.