You might try making
the higher control system proportional
I thought mine were (proportional as in PID?).
I'm currently thinking that the right way to do the elbow stickout
limit is to continue following Rick and put it in as a third level,
which fires up control of shoulder azimuth, which is normally left
free, but can be controlled if necessary. Not sure when I'll get to
it (I still want to reply to your comments about lawnmower repair
someday).
Had an unnerving experience today - my oldest (14) called up to say
when he came home, and I had the perception `shit, this kid is talking
like an Andrews'.
Avery