Nickelodeon had a cool show back in the '80s called Standby: Lights, Camera, Action! The educational series showed viewers what movie-making was like and focused on happenings behind the camera. The venerable Leonard Nimoy hosted the series, and in 1983, one of the episodes focused on Return of the Jedi. The below clip features a cool documentary on the film that shows off the building of Jabba's sail barge and the assembly of some of the aliens - especially the Gamorrean Guards.
Bonus: includes Phil Tippett.