Nice thanks - I have found the thread, or another related thread, lots to dig through there.

You mentioned you didnt think that extra inertia will be a problem, but that backlash in the positional motor will be - so, where is this backlash coming from?

The servos I was looking at last night were in the 1.5-3kW range, not exactly 30+hp! Damn that would be a chunky servo :). I'll see if I can figure out my torque needs then.