Mentor Robot Arm - Part 1

Working on a project with a mentor robot that we have many of here at work that do not work. Right now, I have ripped out the controller that was inside of it and have figured out which wires were the motor and potentiometers. The overall concept of this project is to rebuild the robot to work with the trainer arm and the robot will move to the location of that trainer. I am going to use an Arduino microcontroller that is cheap and has many analog inputs (http://www.robotshop.com/arduino-mega-usb-microcontroller-board-6.html). In my opinion, getting the potentiometers to sync with one another will be the hardest of this whole project.