Help need with robotics challenge

A friend of mine challenged me to come up with an 'on the cheap' junkyard design that can't use micro controllers or computers per se. The system is to be a 6 DOF arm using Series Wound (SW) motors in the main arm for movement with either linear or wire actuators to gears. The system must actual connect by wire (not wireless) to a smaller arm that can be moved by hand and thus move the larger arm by use of haptic force feedback.

I'm aware of the need for potentiometers and postion sensors but unsure exactly how to use them to get the right effect.

This is meant to duplicate on the cheap the Waldos used during the 40's and 50's to move around radioactive materials.

I've googled, I've searched and I have a few designs and circuit schematics but I hope someone here can help me with finalizing things before I turn out the final concept.

Thanks ever so much as I only recently found this forum.