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As for as controlling the I/O for the Servos that move the robot arm, an arduino would be a good choice if you want to make one yourself or buy one online such as:

However, if you would like your robot arm to press a switch and rotate a doorknob without being controlled the entire time, you can look into Moveit! ( Moveit! can be used with motion planning libraries, so for example, you could use OpenCV to recognize a doorknob, and Moveit! works with ROS to move the robot arm to turn the doorknob. This is mainly if you want to make your robot arm semi-autonomous though. If you just want to manually control the robot arm and have it rotate doorknobs and press switches, I would say that an arduino would be a good route to take.