I'm looking to develop more fluid/complex moves for my AR3 and I also intend to develop some custom multi-axis, sensor driven, interactive mechanisms for more artistic endeavors. My CAD and mechanical design skills are rather strong, but my control skills which are limited to a few solid years of tinkering with Arduino. I have seen a few posts from users that are operating their arms with ROS/MoveIt and RoboDK which look promising, but I'd like to build up my knowledge base before pursuing either of these options.

It seems like ROS might be the best option given its widespread adoption and community support, but I'd like to hear from some of the more seasoned users and get their opinions. Are there any reference websites/books/projects that might be helpful as I start this process?