This small 6-axis robot arm is controlled by a PICAXE 20M2. It uses 6 analog servo. Each arm link is about 4" long, and the maximum working radius at the gripper is 9 inches.
The SERVOPOS command is very useful driving all six servos simultaneously while the main program decides where to move next.
These two videos show reading a PS/2 keyboard to pick up and stack small alphabet blocks, and using an IR remote to teach the robot a sequence of moves.