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   _____    ______   _    _     _____      _____  
  / ___//  /_   _// | |  | ||  |  ___||   / ___// 
  \___ \\   -| ||-  | |/\| ||  | ||__     \___ \\ 
  /    //   _| ||_  |  /\  ||  | ||__     /    // 
 /____//   /_____// |_// \_||  |_____||  /____//  
`-----`    `-----`  `-`   `-`  `-----`  `-----`

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