Wired Control with Buttons and Analog stick for Mini Arm

ok. Im trying to build a minature arm to lift and move small things. Ive got it built with 4 servos connected to a picaxe 28X project board but i really have no idea as to how i am going to control it. Ive bought a couple of playstation analog sticks which i want to use to control the robot but i do not know how to connect or encode them.

So can anyone make a suggestion as to how i would go about this. thanks