Bottleneck

SSC-32 => PWM (500uS to 2500uS) => servo
Where 500uS to 2500uS determines the position of the servo from 0 degrees to 180 degrees.
Query Pulse command will query the pulse width from the servo.

However there is a problem.

Query Pulse command is absolutely useless since servos will not report back with the real time position.
By querying the pulse from the servos through SSC-32 servo controller, the only information I will receive is the demanded position the servo controller is telling the servo to be at; therefore no feedback, and no effective means of error correction.

I might be able to remove the servo casing and have a direct feedback from the potentiometer, but such approach might interfere with the rigidity or even the whole assembly mechanism of the robot.

We'll see.