So with the wage strikes here in South Africa keeping most of the engineering companies closed I'm continuing on with the software to control the arm. I am using LinuxCNC due to the open source basis, power and customisable nature of the software. You can follow my adventures in setting it up for a 6 axis arm here: http://linuxcnc.org/hardy/hardy/emc2/emc2/index.php/english/forum/10-advanced-configuration/28042-more-6-axis-kinematics-yay