An example using a new Braccio library

HelloCustomBraccio.ino

#include <Braccio.h>
#include <Servo.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wristRotate;
Servo wristVertical;
Servo gripper;

Braccio robot;

void setup() {
  // attach servos
  base.attach(11);
  shoulder.attach(10);
  elbow.attach(9);
  wristRotate.attach(6);
  wristVertical.attach(5);
  gripper.attach(3);

  // configure robot
  robot.base(base);
  robot.shoulder(shoulder);
  robot.elbow(elbow);
  robot.wristRotate(wristRotate);
  robot.wristVertical(wristVertical);
  robot.gripper(gripper);

  ///Start Braccio in it's safe 'home' position
  robot.home();
}

void loop() {
  robot.base(15);
  robot.shoulder(0);
  robot.elbow(180);
  robot.wristVertical(170);
  robot.wristRotate(0);
  robot.gripper(73);
  robot.move(20); //spend 20 ms getting there from where we are now

  delay(1000);

  //old API for reference - IMHO completely unintuitive
  //Braccio.ServoMovement(20,           165,  180, 0, 0, 180,  10);  

  robot.base(165);
  robot.shoulder(180);
  robot.elbow(0);
  robot.wristVertical(0);
  robot.wristRotate(180);
  robot.gripper(10);
  robot.move(); //instantly move to target

  delay(2000);
}