Metal Ring Arrived today, it seems to have stopped the skipping, but there is still too much internal friction. It is too difficult to turn the input of the joint, I am working on a fix.

ROS and inverse kinematics is coming along well, should implement well as a system. I am attempting to make it so all I need to do is enter the DH Parameters and the math will do the rest. turns out that's more difficult than I thought.

*The Metal part is the Aluminum Ring around the Circular Spline in the image above*