if you can program, and are willing to look stuff up, it wont be that hard.
it would help if you had a budget. I have built stuff on a shoe string(a bunch of scrap from the tip), its hard. but fun if you like that sort of thing.
there is this from lyxnmotion for 360 USDhttp://www.lynxmotion.com/Product.aspx?productID=672&CategoryID=124
quite fancy bit of kit, you can get individual componants from the website, which may be cheeper.
or you can look at other robotics sites and ebay for componants and cheep arm kits.
in terms of a camera, its nicer to have the camera mounted so it views the whole arm. or even better, don't permanantly fix it, so you can experiment with it in diffrent places.
buy a cheep light webcam, attach with duct tape/superglue/et al, and run the wire back to the pc. programing cameras is a pain. to put it nicely.
if you have a budget, I can have a look at what you could make from componants. I design stuff like this for work and my degree Im studying for.