Add damage inhibiting measures

[philiparola]

Prevent KHR1 from destroying itself.

• Secure wires to KHR1.
• Stop KHR1 from falling down by securing it to better restraints.
• Add joint rotation limits in firmware.

[williamVbrines]

I am going to add or change the original issue a bit ok.

[williamVbrines]

Made a new mounting system to better restrain the robot from falling and or destroying the restraining mechanism.