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  _  _     ______   _    _     ______    _____   
 | \| ||  /_   _// | |  | ||  /_   _//  / ____|| 
 |  ' ||   -| ||-  | |/\| ||   -| ||-  / //---`' 
 | .  ||   _| ||_  |  /\  ||   _| ||_  \ \\___   
 |_|\_||  /_____// |_// \_||  /_____//  \_____|| 
 `-` -`   `-----`  `-`   `-`  `-----`    `----`

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Text this: Control of a 2-axis scara robot with a flexible forearm