Custom Algorithms for Physics Simulations in Blender (Robot Arm)

Has anyone ever implemented a custom algorithm in Python to make their model behave in a way that is realistic? I.e., writing an algorithm to make a model for a robot arm pick something up?

If so, could you give me a tutorial of some sort of point me in the write direction? I’m attempting to do just that (robot arm scenario), though I can’t seem to find any great tutorials.

Thank you!