Im actually working on that now. currently the robot only has one move type "Move J" which is a joint move and that is fairly easy for the arduino to execute as its a single destination and it simply has all motors drive to the destination but the path of the tip isnt controlled. Im working to create the ability to execute waypoints along a straight line or along an arc. The problem is the low processing power of the arduino. The PC does most of the work and sends the point to the arduino - Im working on what I hope will work in sending the waypoints in one packet and then the arduino can execute consecutively - if the PC sends the waypoints one at a time the motion is jumpy. I'll post on the blog and youtube when the next software version is ready. hoping to incorporate Xbox controller in the next one too.