Hi Alex,
I was wondering if you would use ROS or roll your own control software. I was all set to sing the praises of Joe Jone’s Robot Programming book (again) …LOL There isn’t a whole lot of robotics work being showcased on this site. Just you and maybe half a dozen others. Have you seen the reddit Robotics site? It’s pretty cool. https://www.reddit.com/r/robotics/
Anyway, your description of what you’re planning to do reminded me of another member’s work with ROS. Maybe he can be a ROS resource for you.
https://forum.dronebotworkshop.com/show-tell/cathis-gripper/
https://forum.dronebotworkshop.com/show-tell/cathi-joystick-teleoperation/
Tom
To err is human.
To really foul up, use a computer.
Will wait with interest to see your progress.
ROS unfortunately is beyond my programming ability.