You’re getting into understanding how to use equations for moment of inertia, which is beyond the tutorial here. It took a chapter in Physics to understand the concept of inertia and the corresponding equations, so it’ll be best to do some background reading outside of this tutorial to ensure you get things right 
Ah I see, thank you for all the help!
One last question,
Would you say the torque at the base will be the most torque needed for the arm? Or will it be a lower value?
Sorry about spamming your comment section:)
Normally the shoulder servo requires the most torque, followed by the elbow, then the wrist and the base comes in last. For example on the AL5D, each servo can provide up to:
- Shoulder: 24.7 Kg-cm (even at this torque, it’s still largely the limiting factor in the arm’s max payload)
- Elbow: 13.2 Kg-cm
- Wrist: 9.6 Kg-cm
- Base: 6.4 Kg-cm
However that means the arm cannot be rotated vertically since the base would then be responsible for lifting the weight of the arm which it cannot do.
Oh interesting, I assumed the base will need the most torque.
However from my calculations, the shoulder needs around 19Nm of torque and the base only needs around 1.8Nm of torque. So I wanted to make sure that the calculations seem ok.
Thank you!
Sorry what did you mean by the base will not be able to rotate vertically. Did you mean this movement as I would like my arm to be able to do that.
Oh ok, thank you!!