I've just finished building (and started coding) a 5 servo robot arm (base, shoulder, elbow, wrist, and gripper). I am using the Micro Serial Servo Controller to drive the servos, and an Arduino to control the arm. Pics here:http://www.flickr.com/photos/24299497@N05/3128621913/ andhttp://www.flickr.com/photos/24299497@N05/3128621919/
The forum thread here https://forum.pololu.com/t/arduino-pololu-micro-serial-8-servo-controller/613/1 and the problem discussed here http://blog.ncode.ca/2008/09/01/pololu-micro-serial-servo-controller-problembug-with-the-arduino/ really got me off and running. I can set each servo to a given angle now using command 4 (absolute position). I would really like to hear from anyone who has used this setup to control an arm - code examples would be especially welcome.
I can try to help if you still need a hand, I'm the owner of blog.ncode.ca