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Why are you using a 9V power adapter. They clearly specify in the site: Operating Voltage: 4.8 ~ 7.2V - Operating Current: 3A @ 5V (max)
I would use a 6 to 7V 3amp or more power supply.
#2   — Edited
Yeah - those servos are compatible. I would use the correct voltage as mentioned by @proteusy, however. The servos appear to be lowcost hobby style servos that use a generic pwm signal from any EZB. You can use either an arduino or we would recommend an EZ-B IoTiny by EZ-Robot.

View compatible hardware for the EZB controllers here: https://synthiam.com/Support/Hardware/Hardware-Overview

I recommend beginning with the getting started guide here: https://synthiam.com/Support/Get-Started/overview

The ARC robot skill that will be most useful to you for this robot arm will be the Auto Position. The manual is here: https://synthiam.com/Support/Skills/Movement-Panels/Auto-Positioner-Gait?id=16057