I'm using software that i've written in c++ to run my ar2-3. the fk and ik routines are an interpretation of chris's python code. i'm using a matrix maths library for the matrix operations and the accelstepper library for the motion profiling. it results in quite a compact code base. the whole thing runs on a teensy. it runs stand alone with a command line interface or with a control program i wrote to jog the arm using x,y,z,yaw,pitch,roll or j1-6 angles or run a script of x,y,z,yaw,pitch,roll commands. works a treat....