This was a semester project semester project for the Mechatronics class of the MSc. on Automation Systems and Robotics (NTUA). It started out as an idea from an earlier weekend project of mine that can be found here. Along with two other colleagues from NTUA, we implemented this robot.
Briefly, this is a 3 DOF mechanism with two brushless motors as actuators. The angles are measured with potentiometers, and the closed loop control is implemented using an arduino microcontroller. Pretty fun project to do!